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Rotary Encoders

November 2005

Rotary encoders with mounted stator coupling

Rotary encoders for separate shaft coupling

The catalogs for Angle encoders Exposed linear encoders Sealed linear encoders Position encoders for servo drives HEIDENHAIN subsequent electronics are available upon request.

This catalog supersedes all previous editions, which thereby become invalid. The basis for ordering from HEIDENHAIN is always the catalog edition valid when the contract is made. Standards (ISO, EN, etc.) apply only where explicitly stated in the catalog.

Content

Overview and Specications Selection Guide Measuring Principles Measuring standard, measuring methods, scanning methods Accuracy Mechanical Design Rotary encoders with integral bearing and stator coupling Types and Mounting Rotary encoders with integral bearing for separate shaft coupling Shaft couplings General Mechanical Information Specications Mounted Stator Coupling ECN 400/EQN 400 series ECN 400/EQN 400 series with universal stator coupling ECN 100 series Separate Shaft Coupling ROC 400/ROQ 400 series with synchro ange ROC 415, ROC 417 with synchro ange ROC 400/ROQ 400 series With clamping ange Electrical Connection Interfaces and Pin Layouts Incremental signals 1 VPP TTL HTL Absolute position values EnDat PROFIBUS-DP SSI Connecting Elements and Cables General Electrical Information HEIDENHAIN Measuring Equipment and Counter Cards Sales and Service Worldwide Germany Absolute Rotary Encoders Incremental Rotary Encoders ERN 1000 series ERN 400 series ERN 400 series with universal stator coupling ERN 100 series ROD 1000 series ROD 400 series with synchro ange

4 6 7 8 9 10 12

14 16 20 24 26 28 32

ROD 400 series With clamping ange

34

38 40 42 44 51 54 56 58 60

62 64

Selection Guide

Rotary Encoders
Interface Power supply

Absolute
Singleturn EnDat 2.2/01 5V EnDat 2.2/22 3.6 to 5.25 V SSI 5 V or 10 to 30 V PROFIBUS-DP 10 to 30 V Multiturn EnDat 2.2/01 5V EnDat 2.2/22 3.6 to 5.25 V

With Built-in Stator Coupling


ERN 1000 series

ECN/EQN/ERN 400* series

ECN 413

ECN 425

ECN 413

EQN 425

EQN 437

Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits

Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions

ECN/EQN/ERN 400* series with universal stator coupling

ECN 413

ECN 425

EQN 425

EQN 437

Positions/rev: 13 bits Positions/rev: 25 bits

Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions

ECN/ERN 100 series

ECN 113

ECN 125

ECN 113

Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits

For Separate Shaft Coupling


ROD 1000

series ROC/ROQ/ROD 400* series With synchro ange ROC 413 ROC 425 ROC 410 ROC 412 ROC 413
Positions/rev: 10/12/13 bits

ROC 413

ROQ 425

ROQ 437

Positions/rev: 13 bits Positions/rev: 25 bits

Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions

ROC 415 ROC 417


Positions/rev: 15/17 bits

ROC/ROQ/ROD 400* series with clamping ange

ROC 413

ROC 425

ROC 413

ROC 413

ROQ 425

ROQ 437

Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions

*Versions with EEx protection on request

SSI 5 V or 10 to 30 V

PROFIBUS-DP TTL 10 to 30 V 5V

TTL 10 to 30 V

HTL 10 to 30 V

1 VPP 5V

ERN 1020
100 to 3600 lines

ERN 1030
60 to 3600 lines

ERN 1080
100 to 3600 lines

14

EQN 425
Positions/rev: 13 bits 4096 revolutions

ERN 420
250 to 5000 lines

ERN 460
250 to 5000 lines

ERN 430
250 to 5000 lines

ERN 480
1000 to 5000 lines

16

ERN 420
250 to 5000 lines

ERN 460
250 to 5000 lines

ERN 430
250 to 5000 lines

ERN 480
1000 to 5000 lines

20

ERN 120
1000 to 5000 lines

ERN 130
1000 to 5000 lines

ERN 180
1000 to 5000 lines

24

ROD 1020
100 to 3600 lines

ROD 1030
60 to 3600 lines

ROD 1080
100 to 3600 lines

26

ROQ 425
Positions/rev: 13 bits 4096 revolutions

ROQ 425
Positions/rev: 13 bits 4096 revolutions

ROD 426
50 to 10 000 lines

ROD 466
50 to 10 000 lines

ROD 436
50 to 5000 lines

ROD 486
1000 to 5000 lines

28

32

ROQ 425
Positions/rev: 13 bits 4096 revolutions

ROQ 425
Positions/rev: 13 bits 4096 revolutions

ROD 420
50 to 5000 lines

ROD 430
50 to 5000 lines

ROD 480
1000 to 5000 lines

34

Introduction

Incremental

Measuring Principles Measuring Standard Measuring Methods

HEIDENHAIN encoders with optical scanning incorporate measuring standards of periodic structures known as graduations. These graduations are applied to a carrier substrate of glass or steel. These precision graduations are manufactured in various photolithographic processes. Graduations are fabricated from: extremely hard chromium lines on glass, matte-etched lines on gold-plated steel tape, or three-dimensional structures on glass or steel substrates. The photolithographic manufacturing processes developed by HEIDENHAIN produce grating periods of typically 50 m to 4 m. These processes permit very ne grating periods and are characterized by a high denition and homogeneity of the line edges. Together with the photoelectric scanning method, this high edge denition is a precondition for the high quality of the output signals. The master graduations are manufactured by HEIDENHAIN on custom-built highprecision ruling machines.

With the absolute measuring method, the position value is available from the encoder immediately upon switch-on and can be called at any time by the subsequent electronics. There is no need to move the axes to nd the reference position. The absolute position information is read from the disk graduation, which consists of several parallel graduation tracks.

The track with the nest grating period is interpolated for the position value and at the same time is used to generate an optional incremental signal. In singleturn encoders the absolute position information repeats itself with every revolution. Multiturn encoders can also distinguish between revolutions.

Circular graduations of absolute rotary encoders

With the incremental measuring method, the graduation consists of a periodic grating structure. The position information is obtained by counting the individual increments (measuring steps) from some point of origin. Since an absolute reference is required to ascertain positions, the graduated disks are provided with an additional track that bears a reference mark.

The absolute position established by the reference mark is gated with exactly one measuring step. The reference mark must therefore be scanned to establish an absolute reference or to nd the last selected datum.

Circular graduations of incremental rotary encoders

Accuracy Scanning Methods

Photoelectric scanning Most HEIDENHAIN encoders operate using the principle of photoelectric scanning. The photoelectric scanning of a measuring standard is contact-free, and therefore without wear. This method detects even very ne lines, no more than a few microns wide, and generates output signals with very small signal periods. The ECN, EQN, ERN and ROC, ROQ, ROD rotary encoders use the imaging scanning principle. Put simply, the imaging scanning principle functions by means of projected-light signal generation: two graduations with equal grating periods are moved relative to each otherthe scale and the scanning reticle. The carrier material of the scanning reticle is transparent, whereas the graduation on the measuring standard may be applied to a transparent or reective surface. When parallel light passes through a grating, light and dark surfaces are projected at a certain distance. An index grating with the same grating period is located here. When the two gratings move relative to each other, the incident light is modulated. If the gaps in the gratings are aligned, light passes through. If the lines of one grating coincide with the gaps of the other, no light passes through. Photovoltaic cells convert these variations in light intensity into nearly sinusoidal electrical signals. Practical mounting tolerances for encoders with the imaging scanning principle are achieved with grating periods of 10 m and larger.

The accuracy of position measurement with rotary encoders is mainly determined by the directional deviation of the radial grating, the eccentricity of the graduated disk to the bearing, the radial deviation of the bearing, the error resulting from the connection with a shaft coupling (on rotary encoders with stator coupling this error lies within the system accuracy), the interpolation error during signal processing in the integrated or external interpolation and digitizing electronics.

For incremental rotary encoders with line counts up to 5000: The maximum directional deviation at 20 C ambient temperature and slow speed (scanning frequency between 1 kHz and 2 kHz) lie within 18 mech. 3600 [angular seconds] Line count z which equals 1 grating period. 20 ROD rotary encoders with 6000 to 10000 signal periods per revolution have a system accuracy of 12 angular seconds.

LED light source

The accuracy of absolute position values from absolute rotary encoders is given in the specications for each model. For absolute rotary encoders with complementary incremental signals, the accuracy depends on the line count: Line count 512 2048 8192 Accuracy 60 angular seconds 20 angular seconds 10 angular seconds

Condenser lens

Scanning reticle Measuring standard

Photocells

The above accuracy data refer to incremental measuring signals at an ambient temperature of 20 C and at slow speed.

I90 and I270 photocells are not shown

Photoelectric scanning according to the imaging scanning principle

Mechanical Design Types and Mounting Rotary Encoders with Integral Bearing and Stator Coupling

ECN/EQN/ERN rotary encoders have integrated bearings and a mounted stator coupling. They compensate radial runout and alignment errors without signicantly reducing the accuracy. The encoder shaft is directly connected with the shaft to be measured. During angular acceleration of the shaft, the stator coupling must absorb only that torque caused by friction in the bearing. The stator coupling permits axial motion of the measured shaft: ECN/EQN/ERN 400: ERN 1000: ECN/ERN 100: 1 mm 0.5 mm 1.5 mm

ECN/ERN 100
D
1 max.

ECN: L = 41 min. with D 25 L = 56 min. with D 38 ERN: L = 46 min. with D 25 L = 56 min. with D 38

Mounting The rotary encoder is slid by its hollow shaft onto the measured shaft, and the rotor is fastened by two screws or three eccentric clamps. For rotary encoders with hollow through shaft, the rotor can also be fastened at the end opposite to the ange. With their with taper shafts, rotary encoders of the ECN/EQN/ERN 1300 series are particularly well suited for repeated mounting (see brochure titled Position Encoders for Servo Drives). The stator is connected without a centering collar on a at surface. The universal stator coupling of the ECN/EQN/ERN 400 permits versatile mounting, e.g. by its thread provided for fastening it from outside to the motor cover. Dynamic applications require the highest possible natural frequencies fN of the system (also see General Mechanical Information). This is attained by connecting the shafts on the ange side and fastening the coupling by four cap screws or, on the ERN 1000, with special washers (see Mounting Accessories). Natural frequency fN with coupling fastened by 4 screws Stator coupling ECN/EQN/ ERN 400 ECN/ERN 100 ERN 1000
1) 2)

ECN/EQN/ERN 400 e.g. with standard stator coupling Blind hollow shaft

1 max.

11 min./19 max.

Hollow through shaft


1 max. 56 min.

Grooves remain visible ECN/EQN/ERN 400 e.g. with universal stator coupling Hollow through shaft
1 max. 56 min.

Cable

Flange socket Axial Radial 1000 Hz 900 Hz 400 Hz ERN 1000

2x M3

Standard Universal

1550 Hz 1) 1400 Hz 1000 Hz 950 Hz


2)

1500 Hz 1400 Hz

Also when fastening with 2 screws Also when fastening with 2 screws and thrust pads

If the encoder shaft is subject to high loads, for example from friction wheels, pulleys, or sprockets, HEIDENHAIN recommends mounting the ECN/EQN/ ERN 400 with a bearing assembly (see Mounting Accessories).

1 max. 6 min./21max.

Rotary Encoders with Integral Bearing for Separate Shaft Coupling

ROC/ROQ/ROD rotary encoders have integrated bearings and a solid shaft. The encoder shaft is connected with the measured shaft through a separate rotor coupling. The coupling compensates axial motion and misalignment (radial and angular offset) between the encoder shaft and measured shaft. This relieves the encoder bearing of additional external loads that would otherwise shorten its service life. Diaphragm and metal bellows couplings designed to connect the rotor of the ROC/ROQ/ROD encoders are available (see Shaft Couplings). ROC/ROQ/ROD 400 series rotary encoders permit high bearing loads (see diagram). They can therefore also be mounted directly onto mechanical transfer elements such as gears or friction wheels. If the encoder shaft is subject to relatively high loads, for example from friction wheels, pulleys, or sprockets, HEIDENHAIN recommends mounting the ECN/EQN/ERN 400 with a bearing assembly.

Rotary encoders with synchro ange

Fixing clamps Coupling

Coupling

Adapter ange

ROC/ROQ/ROD 400 with clamping ange

Mounting Rotary encoders with synchro ange by the synchro ange with three xing clamps (see Mounting Accessories), or by the fastening thread on the ange face and an adapter ange (for ROC/ ROQ/ROD 400 see Mounting Accessories). Rotary encoders with clamping ange by the fastening thread on the ange face and an adapter ange (see Mounting Accessories) or by clamping at the clamping ange. The centering collar on the synchro ange or clamping ange serves to center the encoder.

Mounting ange Coupling

Coupling

MD 3 Nm

Bearing lifetime of ROC/ROQ/ROD 400 The lifetime of the shaft bearing depends on the shaft load, the shaft speed, and the point of force application. The values given in the specications for the shaft load are valid for all permissible speeds, and do not limit the bearing lifetime. The diagram shows an example of the different bearing lifetimes to be expected at further loads. The different points of force application of shafts with 6 mm and 10 mm diameters have an effect on the bearing lifetime.

Bearing lifetime if shaft subjected to load


40 000 35 000 F = 40 N F = 60 N

Bearing lifetime

30 000 25 000 20 000 15 000 10 000 5 000 0 0 2 000 4 000 6 000 8 000

6 10

10 000

12 000

14 000

16 000

Shaft speed [rpm]

Shaft Couplings

ROC/ROQ/ROD 400 Diaphragm couplings with galvanic isolation K 14 K 17/01 K 17/06 6 mm 6/5 mm 10 150 Nm rad 0.1 Nm 0.5 mm 1 0.5 mm 3 106 kgm2 200 Nm rad 300 Nm rad 0.2 Nm K 17/02 K 17/04 6/10 mm 10 mm K 17/03

ROD 1000

ROC 415, ROC 417 Flat coupling K 18

Metal bellows Diaphragm coupling coupling 18EBN3 K 03

Hub bore

6 mm

10 mm

4/4 mm

10 mm

10 mm

Kinematic transfer error* Torsional rigidity Max. torque Max. radial offset Max. angular error Max. axial offset Moment of inertia (approx.) Permissible speed Torque for locking screws (approx.) Weight

6 500 Nm rad 0.2 Nm 0.2 mm 0,5 0.3 mm


6 2 6 10 kgm

40 60 Nm rad 0.1 Nm 0.2 mm 0,5 0.3 mm

2 1500 Nm rad 0.2 Nm 0.3 mm 0,5 0.2 mm

3 1200 Nm rad 0.5 Nm

4 106 kgm2 0.3 106 kgm2 20 106 kgm2 75 106 kgm2

16 000 rpm 1.2 Nm

16 000 rpm

12000 rpm 0.8 Nm

10000 rpm 1.2 Nm

1000 rpm

35 g

24 g

23 g

27 .5 g

9g

100 g

117 g

*With radial misalignment = 0.1 mm, angular error = 0.15 mm over 100 mm 0.09 to 50 C Radial misalignment Angular error Axial motion

Mounting Accessories
Screwdriver bit Screwdriver See page 23

10

18 EBN 3 metal bellows coupling for encoders of the ROD 1000 series with 4 mm shaft diameter Id. Nr. 200393-02

K14 diaphragm coupling for ROC/ROQ/ROD 400 Series with 6 mm shaft diameter Id. Nr. 293328-01

Recommended t for the customer shaft: h6

K 17 diaphragm coupling with galvanic isolation for ROC/ROQ/ROD 400 Series with 6 or 10 mm shaft diameter Id. Nr. 296746-xx

K 17 variants 01 02 03 04 06

D1

D2 6 F7 10 F7 10 F7 10 F7 6 F7

6 F7 6 F7 10 F7 10 F7 5 F7

22 mm 22 mm 30 mm 22 mm 22 mm

K 03 diaphragm coupling Id. Nr. 200313-04 for ROC 417 ROC 415

K 18 at coupling Id.-Nr. 202227-01 for ROC 417 ROC 415 Dimensions in mm Tolerancing ISO 8015 ISO 2768 - m H A = Ball bearing

11

General Mechanical Information

UL certication All rotary encoders and cables in this brochure comply with the UL safety regulations for the USA and the CSA safety regulations for Canada. They are listed under le no. E205635. Acceleration Encoders are subject to various types of acceleration during operation and mounting. The indicated maximum values for vibration are apply for frequencies of 55 to 2000 Hz (IEC 60 068-2-6). Any acceleration exceeding permissible values, for example due to resonance depending on the application and mounting, might damage the encoder. Comprehensive tests of the entire system are required. The maximum permissible acceleration values (semi-sinusoidal shock) for shock and impact are valid for 6 ms and 2 ms, respectively (IEC 60 068-2-27). Under no circumstances should a hammer or similar implement be used to adjust or position the encoder. The permissible angular acceleration for all encoders is over 105rad/s2. The maximum values for vibration and shock indicate the limits up to which the encoder can be operated without failure. For an encoder to realize its highest potential accuracy, the environmental and operating conditions described under Measuring Accuracy must be ensured. If the application includes increased shock and vibration loads, please ask for comprehensive assistance from HEIDENHAIN.

Natural frequencies The rotor and the couplings of ROC/ROQ/ ROD rotary encoders, as also the stator and stator coupling of ECN/EQN/ERN rotary encoders, form a single vibrating spring-mass system. The natural frequency fN should be as high as possible. A prerequisite for the highest possible natural frequency on ROC/ROQ/ROD rotary encoders is the use of a diaphragm coupling with a high torsional rigidity C (see Shaft Couplings). fN = 1 2

Expendable parts HEIDENHAIN encoders contain components that are subject to wear, depending on the application and manipulation. These include in particular the following parts: LED light source Bearings in encoders with integral bearing Shaft sealing rings for rotary and angular encoders Cables subject to frequent exing System tests Encoders from HEIDENHAIN are usually integrated as components in larger systems. Such applications require comprehensive tests of the entire system regardless of the specications of the encoder. The specications given in the brochure apply to the specic encoder, not to the complete system. Any operation of the encoder outside of the specied range or for any other than the intended applications is at the users own risk. In safety-oriented systems, the higherlevel system must verify the position value of the encoder after switch-on.

C I

fN: Natural frequency in Hz C: Torsionial rigidity of the coupling in Nm/ rad 2 I: Moment of inertia of the rotor in kgm ECN/EQN/ERN rotary encoders with their stator couplings form a vibrating springmass system whose natural frequency fN should be as high as possible. If radial and/ or axial acceleration forces are added, the stiffness of the encoder bearings and the encoder stators are also signicant. If such loads occur in your application, HEIDENHAIN recommends consulting with the main facility in Traunreut.

Protection against contact (IEC 60529) After encoder installation, all rotating parts must be protected against accidental contact during operation. Degree of protection (IEC 60529) Unless otherwise indicated, all rotary encoders meet protection standard IP64 (ExN/ROx 400: IP 67) according to IEC 60 529. This includes housings, cable outlets and ange sockets when the connector is fastened.The shaft inlet provides protection to IP 64 or IP 65. Splash water should not contain any substances that would have harmful effects on the encoder parts. If the standard protection of the shaft inlet is not sufcient (such as when the encoders are mounted vertically), additional labyrinth seals should be provided. Many encoders are also available with protection to class IP 66 for the shaft inlet. The sealing rings used to seal the shaft are subject to wear due to friction, the amount of which depends on the specic application.

Mounting Work steps to be performed and dimensions to be maintained during mounting are specied solely in the mounting instructions supplied with the unit. All data in this catalog regarding mounting are therefore provisional and not binding; they do not become terms of a contract.

12

Temperature ranges For the unit in its packaging, the storage temperature range is 30 to 80 C. The operating temperature range indicates the temperatures that the encoder may reach during operation in the actual installation environment. The function of the encoder is guaranteed within this range (DIN 32878). The operating temperature is measured on the face of the encoder ange (see dimension drawing) and must not be confused with the ambient temperature. The temperature of the encoder is inuenced by: Mounting conditions The ambient temperature Self-heating of the encoder The self-heating of an encoder depends both on its design characteristics (stator coupling/solid shaft, shaft sealing ring, etc.) and on the operating parameters (rotational speed, power supply). Higher heat generation in the encoder means that a lower ambient temperature is required to keep the encoder within its permissible operating temperature range. These tables show the approximate values of self-heating to be expected in the encoders. In the worst case, a combination of operating parameters can exacerbate self-heating, for example a 30 V power supply and maximum rotational speed. Therefore, the actual operating temperature should be measured directly at the encoder if the encoder is operated near the limits of permissible parameters. Then suitable measures should be taken (fan, heat sinks, etc.) to reduce the ambient temperature far enough so that the maximum permissible operating temperature will not be exceeded during continuous operation. For high speeds at maximum permissible ambient temperature, special versions are available on request with reduced degree of protection (without shaft seal and its concomitant frictional heat).

Self-heating at supply voltage ERN/ROD

15 V Approx. +5 K

30 V Approx. +10 K Approx. +10 K

ECN/EQN/ROC/ROQ Approx. +5 K

Typical self-heating of the encoder at power supplies from 10 to 30 V. In 5-V versions, selfheating is negligible.

Heat generation at speed nmax Solid shaft ROC/ROQ/ROD Approx. + 5 K with protection class IP 64 Approx. + 10 K with protection class IP 66 Approx. + 30 K with protection class IP 64 Approx. + 40 K with protection class IP 66 Approx. +10 K Approx. + 40 K with protection class IP 64 Approx. + 50 K with protection class IP 66

Blind hollow shaft

ECN/EQN/ERN 400

ERN 1000 Hollow through shaft ECN/ERN 100 ECN/EQN/ERN 400

An encoders typical self-heating values depend on its design characteristics at maximum permissible speed. The correlation between rotational speed and heat generation is nearly linear.

2D_anb_2

(C (F)

Measuring the actual operating temperature directly at the encoder

13

ERN 1000 Series


Rotary encoders with mounted stator coupling Compact dimensions Blind hollow shaft 6 mm

7.8

SW 1.5 13.5 6 6.61 (45.1) 37.31 47.60.2

200.3

211

36.5

32

42

0.6

42

16

0.5 1 max.

4x (2x) M3

6 min. /21 max.

14 min.

EN 60 529

Dimensions in mm Tolerancing ISO 8015 ISO 2768 - m H

Cable radial, also usable axially A = Ball bearing k = Required mating dimensions = Variable depending on the coupling Direction of shaft rotation for output signals is described in interface description.

14

50 min.

6g7

.2

0.03

35

10

11 4.5

.8

0.5
4.51

(5. 7)

3.3

0.15

0.2

Incremental

ERN 1020 Incremental signals Line counts* TTL 100 1000

ERN 1030 HTL

ERN 1080 1 VPP


1)

200 250 360 400 500 720 900 1024 1250 1500 2000 2048 2500 3600 160 kHz 0.76 s 10 to 30 V 150 mA 180 kHz 5 V 10% 150 mA

Cutoff freq. 3 dB Scanning frequency Edge separation a Power supply Current consumption without load Electrical connection* Max. cable length Shaft

300 kHz 0.39 s 5 V 10% 150 mA

Cable 1 m/5 m, with or without coupling M23 100 m Blind hollow shaft D = 6 mm 150 m

Mech. permissible speed n 10 000 rpm

Moment of inertia of rotor 0.5 10 Permissible axial motion of measured shaft Vibration 55 to 2000 Hz Shock 6 ms Max. operating 2) temperature Min. operating temp. Protection2) IEC 60 529 Weight

kgm2

0.5 mm
2 100 m/s (IEC 60 068-2-6) 2 1000 m/s (IEC 60 068-2-27)

100 C

70 C

100 C

Rigid conguration: Moving cable: IP 64 Approx. 0.1 kg

40 C 10 C

Bold: These preferred versions are available on short notice * Please select when ordering 1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP 2) For the correlation between the operating temperature and the shaft speed or supply voltage, see General Mechanical Information

Mounting Accessories
for ERN 1000 Series Washer For increasing the natural frequency fN and mounting with only two screws Id. Nr. 334653-01

17.20.2

6.6

R1

R2
48 0.2

20

.2

3. 2 0. 15

22

15

Specications

Starting torque

0.001 Nm (at 20 C)

ECN/EQN/ERN 400 Series


Rotary encoders with mounted stator coupling Blind hollow shaft or Hollow through shaft

Blind hollow shaft

Hollow through shaft

ERN ECN/EQN 512 lines ECN/EQN 2048 lines ECN 425/EQN 437 Flange socket M12

47 .2 47 .7

M23

L1 L2 L3

14 12,5 48,5

23,6 12,5 58,1

Dimensions in mm

Tolerancing ISO 8015 ISO 2768 - m H

Cable radial, also usable axially A = Ball bearing B = Bearing of encoder m = Measuring point for operating temperature k = Required mating dimensions = Clamping screw M2.5 with hexalobular socket X8 = Hole circle for fastening, see coupling 1 = Clamping ring on housing side (status at delivery) 2 = Clamping ring on coupling side (optionally mountable) Direction of shaft rotation for output signals is described in interface description.

16

Absolute Singleturn ECN 425 Absolute position values* EnDat 2.2 Ordering designation Positions per rev Revolutions Code Elec. permissible speed/at accuracy EnDat 22 33 554 432 (25 bits) Pure binary 12 000 rpm for continuous position value 512 lines: 2048 lines: Gray 5000 rpm/ 1 LSB 12000 rpm/ 100 LSB 1500 rpm/ 1 LSB 12000 rpm/ 50 LSB 0.5 s
1)

Incremental Multiturn ECN 413 EnDat 2.2 EnDat 01 8192 (13 bits) ECN 413 SSI EQN 437 EnDat 2.2 EnDat 22 33554432 (25 bits) 4096 Pure binary 12000 rpm for continuous position value 512 lines: 2048 lines: Gray 5000 rpm/ 1 LSB 10000 rpm/ 100 LSB 1500 rpm/ 1 LSB 10000 rpm/ 50 LSB 0.5 s EQN 425 EnDat 2.2 EnDat 01 8192 (13 bits) EQN 425 SSI ERN 420 ERN 460 ERN 430 ERN 480

Calculation time tcal Incremental signals Line counts* Cutoff freq. 3 dB Scanning frequency Edge separation a System accuracy Power supply* Current consumption without load Electrical connection*

5 s Without 20 3.6 to 5.25 V 150 mA

0.25 s 1 VPP 512

5 s Without

0.25 s 1 VPP1) 512 2048

TTL HTL 1 VPP1)

2048

512

20 3.6 to 5.25 V 180 mA

512

250

4)

5004) 1000 1024 1250 2000 2048 2500 3600 4096 5000 180 kHz

512 lines: 100 kHz; 2048 lines: 200 kHz 512 lines: 60; 2048 lines: 20 5V 5 % 160 mA 5 V 5 % or 10 to 30 V 160 mA

512 lines: 100 kHz; 2048 lines: 200 kHz 512 lines: 60; 2048 lines: 20 5V 5 % 200 mA 5 V 5 % or 10 to 30 V 200 mA

300 kHz 0.39 s 1/20 of grating period 5 V 10 % 120 mA 10 to 30 V 100 mA 10 to 30 V 150 mA

5 V 10 % 120 mA

Flange socket M12, radial Cable 1 m, with coupling M12

Flange socket M23, radial Cable 1 m, with coupling M23 or without connecting element

Flange socket M12, radial Cable 1 m, with coupling M12

Flange socket M23, radial Cable 1 m, with coupling M23 or without connecting element

Flange socket M23, radial and axial (with blind hollow shaft) Cable 1 m, without connecting element

Shaft* Mech. perm. speed n2) Starting torque at 20 C

Blind hollow shaft or hollow through shaft D = 12 mm 6000 rpm/ 12 000 rpm 5)

Blind hollow shaft or hollow through shaft D = 12 mm 6000 rpm/ 12000 rpm 5) Blind hollow shaft: 0.01 Nm Hollow through shaft: 0.025 Nm 1 nm 4.3 106 kgm2 1 mm
2 3) 300 m/s (IEC 60068-2-6) 2 1000 m/s / 2000 m/s2 (IEC 60068-2-27)

Blind hollow shaft: 0.01 Nm Hollow through shaft: 0.025 Nm below -20 C 1 nm
6

Moment of inertia of rotor 4.3 10 Permissible axial motion of measured shaft Vibration 55 to 2000 Hz Shock 6 ms/2 ms Max. operating 2) temperature Min. operating temperature Protection IEC 60529 Weight

kgm2

1 mm 300 m/s2 3) (IEC 60 068-2-6) 1000 m/s2/ 2 000 m/s2 (IEC 60068-2-27) UP = 5 V: 100 C UP = 10 to 30 V: 85 C Flange socket or xed cable:40 C Moving cable: 10 C IP 67 at housing; IP 64 at shaft inlet Approx. 0.3 kg
1) 2)

100 C

70 C

100 C

Flange socket or xed cable: 40 C Moving cable: 10 C IP 67 at housing (IP 66 with hollow through shaft); IP 64 at shaft inlet Approx. 0.3 kg Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP For the correlation between the operating temperature and the shaft speed or power supply, see General Mechanical Information
3) 4)

Bold: These preferred versions are available on short notice * Please select when ordering

150 m/s2 with ange socket version Not with ERN 480 5) With two shaft clamps (only for hollow through shaft)

17

18

Mounting Accessories
for ERN/ECN/EQN 400 Series

ECN/EQN/ERN 400 Series


Rotary encoders with mounted universal stator coupling Blind hollow shaft or Hollow through shaft

Shaft clamp ring Torque supports Screwdriver Screwdriver bit See page 23

Blind hollow shaft

Bearing assembly for ERN/ECN/EQN 400 series with blind hollow shaft Id. Nr. 324320-01

Hollow through shaft Bearing assembly Permissible speed n Shaft load The bearing assembly is capable of absorbing large radial shaft loads. It is therefore particularly recommended for use in applications with friction wheels, pulleys, or sprockets. It prevents overload of the encoder bearing. On the encoder side, the bearing assembly has a stub shaft with 12-mm diameter and is well suited for the ERN/ECN/EQN 400 encoders with blind hollow shaft. Also, the threaded holes for fastening the stator coupling are already provided. The ange of the bearing assembly has the same dimensions as the clamping ange of the ROD 420/430 series. The bearing assembly can be fastened through the threaded holes on its face or with the aid of the mounting ange or the mounting bracket. Mounting bracket for bearing assembly Id. Nr. 324322-01
3x 3.5

Max. 6000 rpm 200 N axial and radial 40 to 100 C

Operating temperature

Bearing lifetime depending on shaft speed


80 000 F 50 N 100 N 200 N F 100 N 100 N 200 N

Bearing lifetime [h]

60 000 40 000 20 000 0

L ERN ECN/EQN 512 lines ECN/EQN 2048 lines ECN 425/EQN 437 Flange socket 47 .2 47 .7

2 000

4 000

6 000

M12

M23

Shaft speed [rpm]


L1 L2 L3 14 12,5 48,5 23,6 12,5 58,1

3x 4.5

X
36H7 160.5 1001
48

341

160.5

Dimensions in mm
250.5 6.8

12

15

3x

= 801

501

3x

12

Tolerancing ISO 8015 ISO 2768 - m H

Cable radial, also usable axially A = Ball bearing B = Bearing of encoder m = Measuring point for operating temperature k = Required mating dimensions = Clamping screw M2.5 with hexalobular socket X8 = Hole circle for fastening, see coupling 1 = Clamping ring on housing side (status at delivery) 2 = Clamping ring on coupling side (optionally mountable) Direction of shaft rotation for output signals is described in interface description.

62.50.5

19

20

Absolute Singleturn ECN 425 Absolute position values* EnDat 2.2 Ordering designation Positions per rev Revolutions Code Elec. permissible speed/at accuracy EnDat 22 33 554 432 (25 bits) Pure binary 12 000 rpm for continuous position value 512 lines: 2048 lines: Gray 5000 rpm/ 1 LSB 12000 rpm/ 100 LSB 1500 rpm/ 1 LSB 12000 rpm/ 50 LSB 0.5 s
1)

Incremental Multiturn ECN 413 EnDat 2.2 EnDat 01 8192 (13 bits) ECN 413 SSI EQN 437 EnDat 2.2 EnDat 22 33554432 (25 bits) 4096 Pure binary 12000 rpm for continuous position value 512 lines: 2048 lines: Gray 5000 rpm/ 1 LSB 10000 rpm/ 100 LSB 1500 rpm/ 1 LSB 10000 rpm/ 50 LSB 0.5 s EQN 425 EnDat 2.2 EnDat 01 8192 (13 bits) EQN 425 SSI ERN 420 ERN 460 ERN 430 ERN 480

Calculation time tcal Incremental signals Line counts* Cutoff freq. 3 dB Scanning frequency Edge separation a System accuracy Power supply* Current consumption without load Electrical connection*

5 s Without 20 3.6 to 5.25 V 150 mA

0.25 s 1 VPP 512

5 s Without

0.25 s 1 VPP1) 512 2048

TTL HTL 1 VPP1)

2048

512

20 3.6 to 5.25 V 180 mA

512

250

4)

5004) 1000 1024 1250 2000 2048 2500 3600 4096 5000 180 kHz

512 lines: 100 kHz; 2048 lines: 200 kHz 512 lines: 60; 2048 lines: 20 5V 5 % 160 mA 5 V 5 % or 10 to 30 V 160 mA

512 lines: 100 kHz; 2048 lines: 200 kHz 512 lines: 60; 2048 lines: 20 5V 5 % 200 mA 5 V 5 % or 10 to 30 V 200 mA

300 kHz 0.39 s 1/20 of grating period 5 V 10 % 120 mA 10 to 30 V 100 mA 10 to 30 V 150 mA

5 V 10 % 120 mA

Flange socket M12, radial Cable 1 m, with coupling M12

Flange socket M23, radial Cable 1 m, with coupling M23 or without connecting element

Flange socket M12, radial Cable 1 m, with coupling M12

Flange socket M23, radial Cable 1 m, with coupling M23 or without connecting element

Flange socket M23, radial and axial (with blind hollow shaft) Cable 1 m, without connecting element

Shaft* Mech. perm. speed n2) Starting torque at 20 C

Blind hollow shaft or hollow through shaft D = 12 mm 6000 rpm/ 12 000 rpm 5)

Blind hollow shaft or hollow through shaft D = 12 mm 6000 rpm/ 12000 rpm 5) Blind hollow shaft: 0.01 Nm Hollow through shaft: 0.025 Nm 1 nm 4.3 106 kgm2 1 mm
2 3) 300 m/s (IEC 60068-2-6) 2 1000 m/s / 2000 m/s2 (IEC 60068-2-27)

Blind hollow shaft: 0.01 Nm Hollow through shaft: 0.025 Nm below -20 C 1 nm
6

Moment of inertia of rotor 4.3 10 Permissible axial motion of measured shaft Vibration 55 to 2000 Hz Shock 6 ms/2 ms Max. operating 2) temperature Min. operating temperature Protection IEC 60529 Weight

kgm2

1 mm 300 m/s2 3) (IEC 60 068-2-6) 1000 m/s2/ 2 000 m/s2 (IEC 60068-2-27) UP = 5 V: 100 C UP = 10 to 30 V: 85 C Flange socket or xed cable:40 C Moving cable: 10 C IP 67 at housing; IP 64 at shaft inlet Approx. 0.3 kg
1) 2)

100 C

70 C

100 C

Flange socket or xed cable: 40 C Moving cable: 10 C IP 67 at housing (IP 66 with hollow through shaft); IP 64 at shaft inlet Approx. 0.3 kg Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP For the correlation between the operating temperature and the shaft speed or power supply, see General Mechanical Information
3) 4)

Bold: These preferred versions are available on short notice * Please select when ordering

150 m/s2 with ange socket version Not with ERN 480 5) With two shaft clamps (only for hollow through shaft)

21

22

Mounting Accessories
for ERN/ECN/EQN 400 Series

ECN/ERN 100 Series


Rotary encoders with mounted stator coupling Hollow through shaft up to 50 mm

28

Shaft clamp ring By using a second shaft clamp ring, the mechanically permissible speed of rotary encoders with hollow through shaft can be increased to a maximum of 12000 rpm. Id. Nr. 540741-03

3.1

ERN 1x0/ECN 113


870.1 34 2.7 L3 0.6

6.2+0.1

10.40.1

m
3x120 SW3
ER EC N: 7 N. 1.8 73

Torque Supports for the ERN/ECN/ EQN 400 For simple applications with the ERN/ ECN/EQN 400, the stator coupling can be replaced by torque supports. The following kits are available

43.5

39

= Clamping screw M2.5 with hexalobular socket X8

104

7 14 L4 1

6
25

Wire torque support The stator coupling is replaced by a at metal ring to which the provided wire is fastened. Id. Nr. 510955-01 Pin torque support Instead of a stator coupling, a synchro ange is fastened to the encoder. A pin serving as torque support is mounted either axially or radially on the ange. As an alternative, the pin can be pressed in on the customers surface, and a guide can be inserted in the encoder ange for the pin. Id. Nr. 510861-01

28

34

L5 1

ECN 125 with M12

870.1 34 2.7

L3 0.6

m
104 3x120 SW3
63 .5 0.5

43.5

39

28 14 28 4x M4

12

7 L6 1

4.5
25

343

L7 1

0.03 A

Id. Nr. 350379-01 Id. Nr. 350379-02

1.5

Width across ats 2 (ball head) 3 (ball head) 1,5 2 2.5 4 TX8

Length

Id. Nr.
96 0

0.3 A

70 mm

350 378-04 350 378-08 350 378-01 350 378-03 350 378-05 350 378-07 Tolerancing ISO 8015 ISO 2768 - m H
271

1 max. L1 min. L2 min.

Dimensions in mm
D 20h7 Model ERN ECN 25h7 ERN ECN 38h7 ERN ECN 50h7 ERN ECN 56 58.5 55 L1 46 41 46 41 56 L2 48.5 43.5 48.5 43.5 58.5 L3 45 40 45 40 55 L4 37 32 37 32 46 47 46 47 L5 32.5 26.5 32.5 26.5 42.5 41.5 42.5 41.5 47 41.5 47 41.5 32 26.5 L6 32 L7 26.5

89 mm 152 mm

350378-11 350 378-12

Cable radial, also usable axially A = Ball bearing k = Required mating dimensions m = Measuring point for operating temperature Direction of shaft rotation for output signals is described in interface description.

23

24

110 min.

Screwdriver bit for HEIDENHAIN shaft couplings, for ExN 100/400/1000 shaft clamps, for ERO shaft clamps

Screwdriver Adjustable torque 0.2 Nm to 1 Nm 0.5 Nm to 5 Nm

.2

Absolute Singleturn ECN 125 Absolute position values* EnDat 2.2 Ordering designation Positions per rev Code Elec. permissible speed/at accuracy EnDat 22 ECN 113 EnDat 2.2 EnDat 01 ECN 113 SSI

Incremental

ERN 120

ERN 130

ERN 180

33554432 (25 bits) 8192 (13 bits) Pure binary nmax for continuous position value 5 s Without 20 3.6 to 5.25 V 200 mA 5 V 5% 180 mA 5V 5 % 180 mA
2)

Gray

660 rpm/ 1 LSB nmax/ 50 LSB

Calculation time tcal Incremental signals Line counts* Cutoff freq. 3 dB Scanning frequency Edge separation a System accuracy Power supply Current consumption without load Electrical connection*

0.25 s 1 VPP 2 048


1)

0.5 s

TTL 1000 1024 HTL 1 VPP1)

2048 2500 3600 5000 Typ. 180 kHz

Typically 200 kHz

300 kHz 0.39 s 1/20 of grating period 5 V 10% 150 mA 10 to 30 V 200 mA

5 V 10% 150 mA

Flange socket M12, radial Cable 1 m/5 m, with coupling M12

Flange socket M23, radial Cable 1 m/5 m, with or without coupling M23

Flange socket M23, radial Cable 1 m/5 m, with or without coupling M23

Shaft*
3)

Hollow through shaft D = 20 mm, 25 mm, 38 mm, 50 mm D > 30 mm: 4000 rpm D 30 mm: 6000 rpm D > 30 mm: 0.2 Nm D 30 mm: 0.15 Nm 220 106 kgm2 350 106 kgm2 96 106 kgm2 100 106 kgm2

Hollow through shaft D = 20 mm, 25 mm, 38 mm, 50 mm D > 30 mm: 4000 rpm D 30 mm: 6000 rpm D > 30 mm: 0.2 Nm D 30 mm: 0.15 Nm D = 50 mm D = 38 mm D = 25 mm D = 20 mm 1.5 mm
2 4) 200 m/s (IEC 60068-2-6) 1000 m/s2 (IEC 60068-2-27)

Mech. perm. speed n

Starting torque at 20 C

Moment of inertia of rotor D = 50 mm D = 38 mm D = 25 mm D = 20 mm Permissible axial motion of measured shaft Vibration 55 to 2000 Hz Shock 6 ms Max. operating 3) temperature Min. operating temperature
3) Protection IEC 60 529

240 106 kgm2 350 106 kgm2 80 106 kgm2 85 106 kgm2

1.5 mm
2 4) (IEC 60 068-2-6) 200 m/s 1000 m/s2 (IEC 60 068-2-27)

100 C

100 C

85 C (100 C at UP < 15 V)

100 C

Flange socket or xed cable: 40 C Moving cable: 10 C IP 64

Flange socket or xed cable: 40 C Moving cable: 10 C IP 64

Weight

0.6 kg to 0.9 kg depending on the hollow shaft version 0.6 kg to 0.9 kg depending on the hollow shaft version
3)

Bold: These preferred versions are available on short notice * Please select when ordering 1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP 2) 10 to 30 V via connecting cable with voltage converter

For the correlation between the protection class, shaft speed and operating temperature, see General Mechanical Information 4) 100 m/s2 with ange socket version

25

ROD 1000 Series


Rotary encoders for separate shaft coupling Compact dimensions Synchro ange

0.2 B

340.5 4.50.5

4x 0.2 C

M3 x 6

36.50.2

33h7 e

26

40.008/0.018 e

12.5+1

3.3 2.4 0.1 A 2

4.5

0.1 A

Dimensions in mm Tolerancing ISO 8015 ISO 2768 - m H

Cable radial, also usable axially A = Ball bearing b = Threaded mounting hole Direction of shaft rotation for output signals is described in interface description.

26

Incremental

ROD 1020 Incremental signals Line counts* TTL

ROD 1030 HTL

ROD 1080 1 VPP1)

100 200 250 360 400 500 720 900 1000 1024 1250 1500 2000 2048 2500 3600 300 kHz 0.39 s 5 V 10% 150 mA 160 kHz 0.76 s 10 to 30 V 150 mA 180 kHz 5 V 10% 150 mA

Cutoff freq. 3 dB Scanning frequency Edge separation a Power supply* Current consumption without load Electrical connection* Max. cable length Shaft*

Cable 1 m/5 m, with or without coupling M23 100 m Solid shaft D = 4 mm 150 m

Mech. permissible speed n 10 000 rpm Starting torque 0.001 Nm (at 20 C)


6

Moment of inertia of rotor 0.45 10 Shaft load

kgm2

Axial 5 N Radial 10 N at shaft end 100 m/s2 (IEC 60 068-2-6) 1000 m/s2 (IEC 60 068-2-27) 100 C 70 C 100 C

Vibration 55 to 2000 Hz Shock 6 ms Max. operating 2) temperature Min. operating temperature Protection IEC 60529 Weight

Rigid conguration: Moving cable: IP 64 Approx. 0.09 kg

40 C 10 C

Bold: These preferred versions are available on short notice * Please select when ordering 1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP 2) For the correlation between the operating temperature and the shaft speed or supply voltage, see General Mechanical Information

Mounting Accessories
Fixing clamps for encoders of the ROD 1000 series (3 per encoder) Id. Nr. 200032-02 Shaft coupling See Shaft Couplings

27

ROC/ROQ/ROD 400 Series with Synchro Flange


Rotary encoders for separate shaft coupling

ROC/ROQ/ROD 4xx

L ROD ROC/ROQ 512 lines ROC/ROQ 2048 lines ROC 425/ROQ 437 42.7 43.2

ROC 413/ROQ 425 with PROFIBUS DP

Dimensions in mm Tolerancing ISO 8015 ISO 2768 - m H Cable radial, also usable axially A = Ball bearing b = Threaded mounting hole = Shown rotated by 40 Direction of shaft rotation for output signals is described in interface description.

28

Absolute Singleturn ROC 425 ROC 413 ROC 410 ROC 412 ROC 413 SSI ROC 413 Multiturn ROQ 437 ROQ 425 ROQ 424 ROQ 425 ROQ 425

Incremental

ROD 426

ROD 466

ROD 436

ROD 486

Absolute position values* EnDat 2.2 Ordering designation Positions per rev EnDat 22

EnDat 2.2 EnDat 01

PROFIBUS-DP

EnDat 2.2 EnDat 22

EnDat 2.2 EnDat 01

SSI

PROFIBUS-DP

33554432 (25 bits) 8192 (13 bits)

1024 (10 bits) 4096 (12 bits) 8192 (13 bits)

8192 (13 bits)2)

33554432 (25 bits) 8192 (13 bits)

4096 (12 bits) 8192 (13 bits)

8192 (13 bits)2)

Revolutions Code Elec. permissible speed/ at accuracy

Pure binary 12 000 rpm for continuous position value 512 lines: 2 048 lines: Gray 5000 rpm/ 1 LSB 12000 rpm/ 100 LSB 1500 rpm/ 1 LSB 12000 rpm/ 50 LSB 0.5 s
1)

4096 Pure binary Pure binary 12000 rpm for continuous position value 512 lines: 2048 lines: Gray 5000 rpm/ 1 LSB 10000 rpm/ 100 LSB 1500 rpm/ 1 LSB 10000 rpm/ 50 LSB 0.5 s

4096

2)

Pure binary

Calculation time tcal Incremental signals Line counts*

5 s Without

0.25 s 1 VPP 512

5 s Without

0.25 s 1 VPP1) 512 2 048

TTL 50 100 150 200 250 360 HTL 500 512 1 VPP1) 720

2048

512

512 (internal only)

512

512 (internal only)

1000 1024 1250 1500 1800 2000 2048 2500 3600 4096 4) 4) 4) 4) 5000 6000 8 192 9000 10000 Cutoff freq. 3 dB Scanning frequency Edge separation a System accuracy Power supply* Current con. without load Electrical connection* 20 3.6 to 5.25 V 150 mA 512 lines: 100 kHz; 2048 lines: 200 kHz 512 lines: 60; 2048 lines: 20 5V 5 % 160 mA 5 V 5 % or 10 to 30 V 160 mA 60 10 to 30 V 125 mA at 24 V Screw terminals; radial cable exit 20 3.6 to 5.25 V 180 mA 512 lines: 100 kHz; 2048 lines: 200 kHz 512 lines: 60; 2048 lines: 20 5V 5 % 200 mA 5 V 5 % or 10 to 30 V 200 mA 10 to 30 V 125 mA at 24 V Screw terminals; radial cable exit 4) 300 kHz/ 150 kHz 0.39 s/ 0.25 s4) 1/20 of grating period 5 V 10 % 120 mA 10 to 30 V 100 mA 10 to 30 V 150 mA 5 V 10 % 120 mA 180 kHz

Flange socket Flange socket M23, axial or radial M12, radial Cable 1 m/5 m, with or without Cable 1 m, with coupling M23 coupling M12 Solid shaft D = 6 mm

Flange socket Flange socket M23, axial or radial M12, radial Cable 1 m/5 m, with or without Cable 1 m, with coupling M23 coupling M12

Flange socket M23, radial and axial Cable 1 m/5 m, with or without coupling M23

Shaft

Solid shaft D = 6 mm 16000 rpm 0.01 Nm (at 20 C) 3.6 106 kgm2 2.7 106 kgm2 3.8 106 kgm2 2.7 106 kgm2 Axial 10 N/radial 20 N at shaft end
2 300 m/s (IEC 60068-2-6) 2 1000 m/s / 2000 m/s2 (IEC 60068-2-27)

Mech. permissible speed n 12 000 rpm Starting torque 0.01 Nm (at 20 C)

Moment of inertia of rotor 2.7 106 kgm2 Shaft load5) Vibration 55 to 2000 Hz Shock 6 ms/2 ms Max. operating temp. Min. operating temp. Axial 10 N/radial 20 N at shaft end 300 m/s2 (IEC 60 068-2-6) 1000 m/s2/ 2000 m/s2 (IEC 60068-2-27) UP = 5 V: 100 C; UP = 10 to 30 V: 85 C Flange socket or xed cable: 40 C Moving cable: 10 C IP 67 at housing; IP 64 at shaft end Approx. 0.35 kg
3)

60 C 20 C

UP = 5 V: 100 C; UP = 10 to 30 V: 85 C Flange socket or xed cable:40 C Moving cable: 10 C

60 C -20 C

100 C

70 C

100 C

Flange socket or xed cable:40 C Moving cable: 10 C IP 67 at housing; IP 64 at shaft end3) Approx. 0.3 kg

Protection IEC 60529 Weight

Bold: These preferred versions are available on short notice * Please select when ordering 1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP

2) 3)

These functions are programmable IP 66 upon request

4) 5)

Only on ROD 426, ROD 466 through integrated signal doubling Also see Mechanical Design and Installation

29

30

Mounting Accessories
for ROC/ROQ/ROD 400 series with synchro ange

ROC 415, ROC 417


Rotary encoders for separate shaft coupling Synchro ange High absolute resolution 32768 position values per revolution (15 bits) or 131072 position values per revolution (17 bits)

Adapter ange (electrically nonconducting) Id. Nr. 257044-01

38.30.2 29.3 0.2 0 25.80.1 21.30.2 4 x 90 0.2

3x

12 0

+0.20 50.025 +0.05

58.2 +0.4 0

63.4 0.5 0

75

42

13

26 +0.2 0.5

32

4.6 3x 0.3 A 4.6 510.05 x8 4x 0.3 A 82.55 +0.05 0.10

5.9 +0.2 0.4

B
0.3 B 0.3 B

Fixing clamps (3 per encoder) Id. Nr. 200032-01

Shaft coupling See Shaft Couplings

Dimensions in mm Tolerancing ISO 8015 ISO 2768 - m H

Cable radial, also usable axially A = Ball bearing b = Threaded mounting hole Direction of shaft rotation for output signals is described in interface description.

31

32

Absolute Singleturn ROC 415 Absolute position values Positions per rev Code Elec. permissible speed/at accuracy Calculation time tcal Incremental signals Line counts Cutoff freq. 3 dB Power supply Current consumption without load Electrical connection* EnDat 2.1 32 768 (15 bits) Pure binary 60 rpm/ 2 LSB 200 rpm/ 50 LSB 0.25 s 1 VPP 8192 100 kHz 5 V 5% 250 mA
1)

ROC 417

131072 (17 bits)

Flange socket M23, axial or radial Cable 1 m/5 m, with or without coupling M23 Solid shaft D = 10 mm

Shaft

Mech. permissible speed n 10 000 rpm Starting torque 0.025 nm (at 20 C)


6

Moment of inertia of rotor 3.6 10 Shaft load

kgm2

Axial 10 N Radial 20 N at shaft end


2 100 m/s (IEC 60 068-2-6) 1000 m/s2 (IEC 60 068-2-27)

Vibration 55 to 2000 Hz Shock 6 ms Max. operating temp. Min. operating temp.

80 C Flange socket or xed cable: 40 C Moving cable: 10 C IP 67 at housing IP 66 at shaft inlet Approx. 0.4 kg

Protection IEC 60529

Weight

Bold: These preferred versions are available on short notice * Please select when ordering 1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP

Mounting Accessories
Fixing clamps (3 per encoder) Id. Nr. 200032-01 Shaft coupling See Shaft Couplings

33

ROC/ROQ/ROD 400 Series with Clamping Flange


Rotary encoders for separate shaft coupling

ROC/ROQ/ROD 4xx

L ROD ROC/ROQ 512 lines ROC/ROQ 2048 lines ROC 425/ROQ 437 36.7 37 .2

ROC 413/ROQ 425 with PROFIBUS DP

Dimensions in mm Tolerancing ISO 8015 ISO 2768 - m H

Cable radial, also usable axially A = Ball bearing b = Threaded mounting hole m = Measuring point for operating temperature = Shown rotated by 40 Direction of shaft rotation for output signals is described in interface description.

34

Absolute Singleturn ROC 425 ROC 413 ROC 413 ROC 413 Multiturn ROQ 437 ROQ 425 ROQ 424 ROQ 425 SSI ROQ 425

Incremental

ROD 420

ROD 430

ROD 480

Absolute position values* EnDat 2.2 Ordering designation Positions per rev EnDat 22 33 554 432 (25 bits)

EnDat 2.2 EnDat 01 8192 (13 bits)

SSI

PROFIBUS-DP

EnDat 2.2 EnDat 22

EnDat 2.2 EnDat 01 8192 (13 bits)

PROFIBUS-DP

8192 (13 bits)

2)

33554432 (25 bits)

4096 (12 bits) 8192 (13 bits)

8192 (13 bits)2)


2)

Revolutions Code Elec. permissible speed/at accuracy

Pure binary 12 000 rpm for continuous position value 5 s Without Gray 5 000 rpm/ 1 LSB 12 000 rpm/ 100 LSB Pure binary

4096 Pure binary 12000 rpm for continuous position value 512 (internal only) 5 s Without Gray 5000 rpm/ 1 LSB 10000 rpm/ 100 LSB

4096

Pure binary

Calculation time tcal Incremental signals Line counts*

0.25 s 1 VPP1) 512

0.5 s

0.25 s 1 VPP1) 512

0.5 s

512 (internal only)

TTL 50 360 100 500 150 512 HTL 200 720 250 1 VPP1)

1000 1024 1250 1500 3600 4096 5000 Cutoff freq. 3 dB Scanning frequency Edge separation a System accuracy Power supply* Current consumption without load Electrical connection* 20 3.6 to 5.25 V 150 mA 100 kHz 60 5V 5 % 160 mA 5 V 5 % or 10 to 30 V 160 mA 10 to 30 V 125 mA at 24 V 20 3.6 to 5.25 V 180 mA 100 kHz 60 5V 5 % 200 mA 5 V 5 % or 10 to 30 V 200 mA 10 to 30 V 125 mA at 24 V 300 kHz 0.39 s 1/20 of grating period 5 V 10 % 120 mA

1800

2000 2048 2500

180 kHz

10 to 30 V 150 mA

5 V 10 % 120 mA

Flange socket M12, radial Cable 1 m, with coupling M12 Solid shaft D = 10 mm

Flange socket M23, axial or radial Cable 1 m/5 m, with or without coupling M23

Screw terminals, radial cable outlet

Flange socket M12, Flange socket M23, axial or radial Cable 1 m/5 m, with or without coupling radial Cable 1 m, with M23 coupling M12

Screw terminals, radial cable outlet

Flange socket M23, radial and axial Cable 1 m/5 m, with or without coupling M23

Shaft

Solid shaft D = 10 mm 12000 rpm 0.01 Nm (at 20 C) 3.6 106 kgm2 2.8 106 kgm2 3.6 106 kgm2 2.6 106 kgm2 Axial 10 N/radial 20 N at shaft end 300 m/s2 (IEC 60068-2-6) 2 2 1000 m/s / 2000 m/s (IEC 60068-2-27) 60 C UP = 5 V: 100 C UP = 10 to 30 V: 85 C Flange socket or xed cable: 40 C Moving cable: 10 C 60 C 100 C

Mech. permissible speed n 12 000 rpm Starting torque 0.01 Nm (at 20 C)


6

Moment of inertia of rotor 2.8 10 Shaft load4) Vibration 55 to 2000 Hz Shock 6 ms/2 ms Max. operating temp.

kgm2

Axial 10 N/radial 20 N at shaft end 300 m/s2 (IEC 60 068-2-6) 2 2 1000 m/s / 2000 m/s (IEC 60068-2-27) UP = 5 V: 100 C UP = 10 to 30 V: 85 C Flange socket or xed cable: 40 C Moving cable: 10 C IP 67 at housing; IP 64 at shaft end Approx. 0.35 kg
1) 2) 3)

Min. operating temp.

-20 C

-20 C

Flange socket or xed cable: 40 C Moving cable: 10 C IP 67 at housing; IP 64 at shaft end3) Approx. 0.3 kg

Protection IEC 60529 Weight

Bold: These preferred versions are available on short notice * Please select when ordering

Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP These functions are programmable

3) 4)

IP 66 upon request Also see Mechanical Design and Installation

35

36

Mounting Accessories
for ROC/ROQ/ROD 400 series with clamping ange

Interfaces Incremental Signals 1 VPP


HEIDENHAIN encoders with 1 VPP interface provide voltage signals that can be highly interpolated. The sinusoidal incremental signals A and B are phase-shifted by 90 elec. and have an amplitude of typically 1 VPP . The illustrated sequence of output signals with B lagging Aapplies for the direction of motion shown in the dimension drawing. The reference mark signal R has a usable component G of approx. 0.5 V. Next to the reference mark, the output signal can be reduced by up to 1.7 V to a quiescent value H. This must not cause the subsequent electronics to overdrive. Even at the lowered signal level, signal peaks with the amplitude G can also appear. The data on signal amplitude apply when the power supply given in the specications is connected to the encoder. They refer to a differential measurement at the 120 ohm terminating resistor between the associated outputs. The signal amplitude decreases with increasing frequency. The cutoff frequency indicates the scanning frequency at which a certain percentage of the original signal amplitude is maintained: 3 dB cutoff frequency: 70 % of the signal amplitude 6 dB cutoff frequency: 50 % of the signal amplitude Interpolation/resolution/ measuring step The output signals of the 1 VPP interface are usually interpolated in the subsequent electronics in order to attain sufciently high resolutions. For velocity control, interpolation factors are commonly over 1000 in order to receive usable velocity information even at low speeds. Measuring steps for position measurement are recommended in the specications. For special applications, other resolutions are also possible. Short-circuit stability A temporary short circuit of one output to 0 V or UP does not cause encoder failure, but it is not a permissible operating condition.

Interface Incremental signals

Sinusoidal voltage signals 1 VPP 2 sinusoidal signals A and B Signal level M: 0.6 to 1.2 VPP; typically 1 VPP Asymmetry |P N|/2M: 0.065 Amplitude ratio MA/MB: 0.8 to 1.25 Phase angle |1 + 2|/2: 90 10 elec. 1 or more signal peaks R Usable component G: Quiescent value H: Switching threshold E, F: Zero crossovers K, L: 0.2 to 0.85 V 0.04 V to 1.7 V 40 mV 180 90 elec.

Mounting ange Id. Nr. 201437-01

Reference mark signal

Connecting cable Cable length Propagation time

HEIDENHAIN cable with shielding 2 2 PUR [4(2 x 0.14 mm ) + (4 x 0.5 mm )] Max. 150 m distributed capacitance 90 pF/m 6 ns/m

Any limited tolerances in the encoders are listed in the specications.

Signal period 360 elec.

Mounting bracket Id. Nr. 324322-01


3x 3.5

3x 4.5

X
36H7 160.5 1001
48

341

160.5

62.50.5

12

15

3x

501

3x

12

250.5

6.8

Rated value

= 801

A, B, R measured with oscilloscope in differential mode

Shaft coupling See Shaft Couplings

Short circuit at One output All outputs

20 C < 3 min < 20 s

125 C < 1 min <5s

37

38

Signal amplitude [%]


3dB cutoff frequency 6dB cutoff frequency Scanning frequency [kHz]

Cutoff frequency Typical signal amplitude curve with respect to the scanning frequency

Input circuitry of the subsequent electronics


Dimensioning Operational amplier MC 34074 Z0 = 120 R1 = 10 k and C1 = 100 pF R2 = 34.8 k and C2 = 10 pF UB = 15 V U1 approx. U0 3dB cutoff frequency of circuitry Approx. 450 kHz Approx. 50 kHz with C1 = 1000 pF and C2 = 82 pF This circuit variant does reduce the bandwidth of the circuit, but in doing so it improves its noise immunity. Circuit output signals Ua = 3.48 VPP typical Gain 3.48 Signal monitoring A threshold sensitivity of 250 mVPP is to be provided for monitoring the 1 VPP incremental signals.

Incremental signals Reference mark signal


Ra < 100 , typ. 24 Ca < 50 pF Ia < 1 mA U0 = 2.5 V 0.5 V (relative to 0 V of the power supply)

Encoder

Subsequent electronics

Pin layout
12-pin coupling M23 12-pin connector M23 15-pin D-sub connector for IK 115/IK 215 or on encoder

Power supply 12 4 UP 2 12 Sensor UP Blue 10 2 0V 11 10 Sensor 0V White 5 1 A+ 6 9 A

Incremental signals 8 3 B+ 1 11 B 3 14 R+ 4 7 R 9

Other signals 7 14 / /

5/8/13/15 Vacant

Vacant Vacant

Brown/ Green

White/ Green

Brown

Green

Gray

Pink

Red

Black

Violet

Yellow

Shield on housing; UP = power supply voltage Sensor: The sensor line is connected internally with the corresponding power line

39

Electrical Connection

Interfaces Incremental Signals TTL

HEIDENHAIN encoders with TTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation. The incremental signals are transmitted as the square-wave pulse trains Ua1 and Ua2, phase-shifted by 90 elec. The reference mark signal consists of one or more reference pulses Ua0, which are gated with the incremental signals. In addition, the integrated electronics produce their inverse signals , and for noise-proof transmission. The illustrated sequence of output signalswith Ua2 lagging Ua1applies for the direction of motion shown in the dimension drawing. The fault-detection signal indicates fault conditions such as breakage of the power line or failure of the light source. It can be used for such purposes as machine shut-off during automated production. The distance between two successive edges of the incremental signals Ua1 and Ua2 through 1-fold, 2-fold or 4-fold evaluation is one measuring step. The subsequent electronics must be designed to detect each edge of the square-wave pulse. The minimum edge separation a listed in the Specications applies for the illustrated input circuitry with a cable length of 1 m, and refers to a measurement at the output of the differential line receiver. Propagation-time differences in cables additionally reduce the edge separation by 0.2 ns per meter of cable length. To prevent counting error, design the subsequent electronics to process even as little as 90% of the resulting edge separation. The max. permissible shaft speed or traversing velocity must never be exceeded.

Interface Incremental signals

Square-wave signals TTL 2 TTL square-wave signals Ua1, Ua2 and their inverted signals , 1 or more square-wave pulses Ua0 and their inverted pulses 90 elec. (other widths available on request); LS 323: ungated |td| 50 ns 1 TTL square-wave pulse Improper function: LOW (upon request: Ua1/Ua2 at high impedance) Proper function: HIGH tS 20 ms Differential line driver as per EIA standard RS 422 UH 2.5 V at IH = 20 mA UL 0.5 V at IL = 20 mA between associated outputs Z0 100 |IL| 20 mA max. load per output with respect to 0 V Cload 1000 pF Outputs protected against short circuit to 0 V t+ / t 30 ns (typically 10 ns) with 1 m cable and recommended input circuitry HEIDENHAIN cable with shielding PUR [4(2 0.14 mm2) + (4 0.5 mm2)] Max. 100 m ( max. 50 m) distributed capacitance 90 pF/m 6 ns/m

Reference mark signal Pulse width Delay time Fault detection signal Pulse width Signal level

Permissible load

Switching times (10% to 90%) Connecting cable Cable length Propagation time

Signal period 360 elec.

Fault

Measuring step after 4-fold evaluation

tS
UaS

Inverse signals , , are not shown


The permissible cable length for transmission of the TTL square-wave signals to the subsequent electronics depends on the edge separation a. It is max. 100 m, or 50 m for the fault detection signal. This requires, however, that the power supply (see Specications) be ensured at the encoder. The sensor lines can be used to measure the voltage at the encoder and, if required, correct it with an automatic system (remote sense power supply).

Cable length [m]

Permissible cable length with respect to the edge separation

100 75 50 25 6

Without

with

0.7

0.6

0.5

0.4

0.3

0.2

0.1 0.05

Edge separation [s]

40

Input circuitry of the subsequent electronics


Dimensioning IC1 = Recommended differential line receiver DS 26 C 32 AT Only for a > 0.1 s: AM 26 LS 32 MC 3486 SN 75 ALS 193 R1 R2 Z0 C1 = 4.7 k = 1.8 k = 120 = 220 pF (serves to improve noise immunity)

Incremental signals Reference mark signal

Encoder

Subsequent electronics

Fault detection signal

Pin layout
12-pin ange socket or coupling M23 12-pin connector M23

15-pin D-sub connector at encoder

12-pin PCB connector


b a 123 4 5 6

Power supply 12 4 2a UP 2 12 2b Sensor UP Blue 10 2 1a 0V 11 10 1b Sensor 0V White 5 1 6b Ua1 6 9 6a

Incremental signals 8 3 5b Ua2 1 11 5a 3 14 4b Ua0 4 7 4a 7 13 3a

Other signals / 5/6/8 3b


1)

9 15 /

Vacant Vacant2)

Brown/ Green

White/ Green

Brown

Green

Gray

Pink

Red

Black

Violet

Yellow

Shield on housing; UP = power supply voltage Sensor: The sensor line is connected internally with the corresponding power line 1) LS 323/ERO 14xx: Vacant 2) Exposed linear encoders: TTL/11 APP conversion for PWT

41

Interfaces Incremental Signals HTL

HEIDENHAIN encoders with HTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation. The incremental signals are transmitted as the square-wave pulse trains Ua1 and Ua2, phase-shifted by 90 elec. The reference mark signal consists of one or more reference pulses Ua0, which are gated with the incremental signals. In addition, the integrated electronics produce their inverse signals , and for noise-proof transmission (not with ERN/ ROD 1x30). The illustrated sequence of output signalswith Ua2 lagging Ua1 applies for the direction of motion shown in the dimension drawing. The fault-detection signal indicates fault conditions such as failure of the light source. It can be used for such purposes as machine shut-off during automated production. The distance between two successive edges of the incremental signals Ua1 and Ua2 through 1-fold, 2-fold or 4-fold evaluation is one measuring step. The subsequent electronics must be designed to detect each edge of the square-wave pulse. The minimum edge separation a listed in the Specications refers to a measurement at the output of the given differential input circuitry. To prevent counting error, the subsequent electronics should be designed to process as little as 90% of the edge separation a. The max. permissible shaft speed or traversing velocity must never be exceeded.

Interface Incremental signals

Square-wave signals HTL 2 HTL square-wave signals Ua1, Ua2 and their inverse signals , (ERN/ROD 1x30 without , ) One or more HTL square-wave pulses Ua0 and their inverse pulses (ERN/ROD 1x30 without ) 90 elec. (other widths available on request) |td| 50 ns 1 HTL square-wave pulse Improper function: LOW Proper function: HIGH tS 20 ms UH 21 V with IH = 20 mA UL 2.8 V with IL = 20 mA with power supply UP = 24 V, without cable

Reference mark signal Pulse width Delay time Fault detection signal

Pulse width Signal level

Permissible load

|IL| 100 mA max. load per output, (except ) Cload 10 nF with respect to 0 V Outputs short-circuit proof max. 1 min. after 0 V and UP (except ) t+/t 200 ns (except ) with 1 m cable and recommended input circuitry HEIDENHAIN cable with shielding 2 2 PUR [4(2 0.14 mm ) + (4 0.5 mm )] Max. 300 m (ERN/ROD 1x30 max. 100 m) distributed capacitance 90 pF/m 6 ns/m

Switching times (10% to 90%) Connecting cable Cable length Propagation time

Signal period 360 elec.

Fault

Measuring step after 4-fold evaluation


tS
UaS

Inverse signals , , are not shown


The permissible cable length for incremental encoders with HTL signals depends on the scanning frequency, the effective power supply, and the operating temperature of the encoder.
ERN/ROD 43x; ERN 130 ERN/ROD 1x30

Cable length [m]

UP = 30 V UP = 24 V UP = 15V 70 C 100 C

zul_Kabell_HTL .eps
Scanning frequency [kHz]

42

Current consumption [mA]

Current consumption [mA]

Current consumption The current consumption for encoders with HTL output signals depends on the output frequency and the cable length to the subsequent electronics. The diagrams at right show typical curves for push-pull signal transmission with a 12-line HEIDENHAIN cable. The maximum current consumption can be 50 mA higher.

300 m

UP = 24 V
200 m 100 m 300 250 200 150 100 50 0 0 50 100 300 m

UP = 15 V

300 250 200 150 100 50 0 0 50 100

200 m 100 m 20 m

20 m

150

200

150

200

Scanning frequency [kHz]

Scanning frequency [kHz]

Input circuitry of the subsequent electronics


Encoder Subsequent electronics ERN/ROD 1030 Subsequent electronics

For cable lengths > 50 m, the corresponding 0 V signal lines must be connected with 0 V of the subsequent electronics to increase noise immunity.

Pin layout
12-pin ange socket or coupling M23 12-pin PCB connector
b a 123 4 5 6

Power supply 12 2a UP 2 2b Sensor UP Blue 10 1a 0V 11 1b Sensor 0V White 5 6b Ua1 6 6a

Incremental signals 8 5b Ua2 1 5a 3 4b Ua0 4 4a 7 3a

Other signals / 3b 9 /

Vacant Vacant

Brown/ Green

White/ Green

Brown

Green

Gray

Pink

Red

Black

Violet

Yellow

Shield on housing; UP = power supply voltage Sensor: The sensor line is connected internally with the corresponding power line ERN 1x30, ROD 1030: 0 V instead of inverse signals , ,

43

Interfaces Absolute Position Values

The EnDat interface is a digital, bidirectional interface for encoders. It is capable of transmitting position values from both absolute andwith EnDat 2.2incremental encoders, as well as reading and updating information stored in the encoder, or of saving new information. Thanks to the serial transmission method only four signal lines are required. The data are transmitted in synchronism with the clock signal from the subsequent electronics. The type of transmission (position values, parameters, diagnostics, etc.) is selected by mode commands that the subsequent electronics send to the encoder. Clock frequency and cable length Without propagation-delay compensation, the clock frequencydepending on the cable lengthis variable between 100 kHz and 2 MHz. Because large cable lengths and high clock frequencies increase the signal run time to the point that they can disturb the unambiguous assignment of data, the delay can be measured in a test run and then compensated. With this propagation-delay compensation in the subsequent electronics, clock frequencies up to 8 MHz at cable lengths up to a maximum of 100 m are possible. The maximum clock frequency is mainly determined by the cables and connecting elements used. To ensure proper function at clock frequencies above 2 MHz, use only original ready-made HEIDENHAIN cables.

Interface Data transfer Data input

EnDat serial bidirectional Absolute position values, parameters and additional information Differential line receiver according to EIA standard RS 485 for CLOCK, CLOCK, DATA and DATA signals Differential line driver according to EIA standard RS 485 for the DATA and DATA signals Pure binary code Ascending during traverse in direction of arrow (see Dimensions) 1 VPP (see Incremental Signals 1 VPP) depending on unit

Data output

Code Position values Incremental signals

Connecting cable HEIDENHAIN cable with shielding With Incremental PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)] 2 2 Without signals PUR [(4 x 0.14 mm ) + (4 x 0.34 mm )] Cable length Propagation time Max. 150 m Max. 10 ns; approx. 6 ns/m

Cable length [m]

0 300

1 000

2 000

3 000

4 000

6 000

8 000

Clock frequency [kHz]


EnDat 2.1; EnDat 2.2 without delay compensation EnDat 2.2 with propagation-delay compensation

Input circuitry of the subsequent electronics


Dimensioning IC1 = RS 485 differential line receiver and driver C3 = 330 pF Z0 = 120

Data transfer

Encoder

Subsequent electronics

Incremental signals Depends on encoder

44

Versions
The extended EnDat interface version 2.2 is compatible in its communication, command set and time conditions with version 2.1, but also offers signicant advantages. It makes it possible, for example, to transfer additional information with the position value without sending a separate request for it. The interface protocol was expanded and the time conditions were optimized. In addition, encoders with ordering designations EnDat 02 or EnDat 22 have an extended power supply range. Both EnDat 2.1 and EnDat 2.2 are available in versions with or without incremental signals. EnDat 2.2 encoders feature a high internal resolution. Therefore, depending on the control technology being used, interrogation of the incremental signals is not necessary. To increase the resolution of EnDat 2.1 encoders, the incremental signals are evaluated in the subsequent electronics. Command set The command set is the sum of all available mode commands. The EnDat 2.2 command set includes EnDat 2.1 mode commands. When a mode command from the EnDat 2.2 command set is transmitted to EnDat-01 subsequent electronics, the encoder or the subsequent electronics may generate an error message. EnDat with command set 2.2 (includes EnDat 2.1 command set) Position values for incremental and absolute encoders Additional information on position value - Diagnostics and test values - Absolute position values after reference run of incremental encoders - Parameter upload/download - Commutation - Acceleration - Limit position signal - Temperature of the encoder PCB - Temperature evaluation of an external temperature sensor (e.g. in the motor winding) EnDat with command set 2.1 Absolute position values Parameter upload/download Reset Test command and test values

Interface

Command set EnDat 2.1 or EnDat 2.2

Ordering designation EnDat 01 EnDat 21

Version

Clock frequency 2 MHz

EnDat

With incremental signals without incremental signals With incremental signals without incremental signals

EnDat 2.2 EnDat 2.2

EnDat 02 EnDat 22

2 MHz 8 MHz

Benets of the EnDat Interface


Automatic self-conguration: All information required by the subsequent electronics is already stored in the encoder High system security through alarms and messages for monitoring and diagnosis High transmission reliability through cyclic redundancy checking Faster conguration during installation: Datum shifting through offsetting by a value in the encoder Other benets of EnDat 2.2 A single interface for all absolute and incremental encoders Additional information (limit switch, temperature, acceleration) Quality improvement: Position value calculation in the encoder permits shorter sampling intervals (25 s) Advantages of purely serial transmission specically for EnDat 2.2 encoders Simple subsequent electronics with EnDat receiver chip Simple connection technology: Standard connecting elements (M12 8-pin) single-shielded standard cable and low wiring costs Minimized transmission times through adaptation of the data word length to the resolution of the encoder High clock frequencies up to 8 MHz. Position values available in the subsequent electronics after only approx. 10 s Support for state-of-the-art machine designs e.g. direct drive technology

Functions
The EnDat interface transmits absolute position values or additional physical quantities (only EnDat 2.2) in an unambiguous time sequence and serves to read from and write to the encoders internal memory. Some functions are available only with EnDat 2.2 mode commands. Position values can be transmitted with or without additional information. The additional information types are selectable via the Memory Range Select (MRS) code. Other functions such as parameter reading and writing can also be called after the memory area and address have been selected. Through simultaneous transmission with the position value, additional information can also be requested of axes in the feedback loop, and functions executed with them. Parameter reading and writing is possible both as a separate function and in connection with the position value. Parameters can be read or written after the memory area and address is selected. Reset functions serve to reset the encoder in case of malfunction. Reset is possible instead of or during position value transmission. Servicing diagnosis makes it possible to inspect the position value even at standstill. A test command has the encoder transmit the required test values.

You can nd more information in the Technical Information for EnDat 2.2 document or on the Internet at www.endat.de.

45

Selecting the Transmission Type


Transmitted data are identied as either position values, position values with additional information, or parameters. The type of information to be transmitted is selected by mode commands. Mode commands dene the content of the transmitted information. Every mode command consists of three bits. To ensure reliable transmission, every bit is transmitted redundantly (inverted or double). If the encoder detects an erroneous mode transmission, it transmits an error message. The EnDat 2.2 interface can also transfer parameter values in the additional information together with the position value. This makes the current position values constantly available for the control loop, even during a parameter request. Control cycles for transfer of position values The transmission cycle begins with the rst falling clock edge. The measured values are saved and the position value calculated. After two clock pulses (2T), to select the type of transmission the subsequent electronics transmit the mode command Encoder transmit position value (with/without additional information). After successful calculation of the absolute position value (tcalsee table), the start bit begins the data transmission from the encoder to the subsequent electronics. The subsequent error messages, error 1 and error 2 (only with EnDat 2.2 commands), are group signals for all monitored functions and serve as failure monitors. Beginning with the LSB, the encoder then transmits the absolute position value as a complete data word. Its length varies depending on which encoder is being used. The number of required clock pulses for transmission of a position value is saved in the parameters of the encoder manufacturer. The data transmission of the position value is completed with the Cyclic Redundancy Check (CRC). In EnDat 2.2, this is followed by additional information 1 and 2, each also concluded with a CRC. With the end of the data word, the clock must be set to HIGH. After 10 to 30 s or 1.25 to 3.75 s (with EnDat 2.2 parameterizable recovery time tm) the data line falls back to LOW. Then a new data transmission can begin by starting the clock.

Mode commands
1) 2)

Encoder transmit position value with additional information Encoder transmit position value and receive selection of memory area2) Encoder transmit position value and receive parameters2) Encoder transmit position value and transmit parameters2) Encoder transmit position value and receive error reset2) Encoder transmit position value and receive test command2) Encoder receive communication command3)

Same reaction as switching the power supply off and on Selected additional information is also transmitted 3) Reserved for encoders that do not support the safety system

Absolute linear encoders have different processing times tcal for position values for EnDat 2.1 and EnDat 2.2 mode commands (see the Specications in the Linear Encoders for Numerically Controlled Machine Tools brochure). If the incremental signals are evaluated for axis control, then the EnDat 2.1 mode commands should be used. Only in this manner can an active error message be transmitted synchronously to the currently requested position value. EnDat 2.1 mode commands should not be used for purely serial position-value transfer for axis control.

Without delay compensation Clock frequency fc 100 kHz ... 2 MHz

With delay compensation

100 kHz ... 8 MHz

Calculation time for Position value tcal Parameters tac Recovery time tm

See Specications Max. 12 ms EnDat 2.1: 10 to 30 s EnDat 2.2: 10 to 30 s or 1.25 to 3.75 s (fc 1 MHz) (parameterizable) Max. 500 ns 2 to 10 s

tR tST Data delay time Pulse width tD tHI tLO

(0.2 + 0.01 x cable length in m) s 0.2 to 10 s 0.2 to 50 ms/30 s (with LC) Pulse width uctuation HIGH to LOW max. 10%

46

EnDat 2.2

Encoder transmit position value Selection of the memory area Encoder receive parameters Encoder transmit parameters 1) Encoder receive reset Encoder transmit test values Encoder receive test commands

EnDat 2.1

EnDat 2.2 Transfer of Position Values


EnDat 2.2 can transmit position values with or without additional information.

Encoder saves position value

Position value without additional information


Subsequent electronics transmit mode command
tcal tm tR

tST
S F1 F2 L M

Mode command

Position value

CRC

S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB Diagram does not depict the propagation-delay compensation

Encoder saves position value Subsequent electronics transmit mode command


tcal tST
S F1 F2 L

Data packet with position value and additional information 1 and 2

tm

tR

Mode command

Position value

CRC

Additional information 2

CRC

Additional information 1

CRC

S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB Diagram does not depict the propagation-delay compensation

Additional information With EnDat 2.2, one or two pieces of additional information can be appended to the position value. Each additional information is 30 bits long with LOW as rst bit, and ends with a CRC check. The additional information supported by the respective encoder is saved in the encoder parameters. The content of the additional information is determined by the MRS code and is transmitted in the next sampling cycle for additional information. This information is then transmitted with every sampling until a selection of a new memory area changes the content.

30 bits Additional information 5 bits CRC

WRN

RM Busy

Acknowledgment of the additional

8 bits address or data

8 bits data

The additional information always begins with: Status data WarningWRN Reference markRM Parameter requestbusy Acknowledgment of additional information

The additional information can contain the following data: Additional information 1 Diagnosis Position value 2 Memory parameters MRS-code acknowledgment Test values Temperature Additional information 2 Commutation Acceleration Limit position signals

47

EnDat 2.1 Transfer of Position Values


EnDat 2.1 can transmit position values with interrupted clock pulse (as in EnDat 2.2) or continuous clock pulse. Interrupted clock The interrupted clock is intended particularly for time-clocked systems such as closed control loops. At the end of the data word the clock signal is set to HIGH level. After 10 to 30 s (tm), the data line falls back to LOW. Then a new data transmission can begin by starting the clock. Continuous clock For applications that require fast acquisition of the measured value, the EnDat interface can have the clock run continuously. Immediately after the last CRC bit has been sent, the data line is switched to high for one clock cycle, and then to low. The new position value is saved with the very next falling edge of the clock and is output in synchronism with the clock signal immediately after the start bit and alarm bit. Because the mode command Encoder transmits position value is needed only before the rst data transmission, the continuous-clock transfer mode reduces the length of the clock-pulse group by 10 periods per position value. Synchronization of the serially transmitted code value with the incremental signal Absolute encoders with EnDat interface can exactly synchronize serially transmitted absolute position values with incremental values. With the rst falling edge (latch signal) of the CLOCK signal from the subsequent electronics, the scanning signals of the individual tracks in the encoder and counter are frozen, as are the A/D converters for subdividing the sinusoidal incremental signals in the subsequent electronics. The code value transmitted over the serial interface unambiguously identies one incremental signal period. The position value is absolute within one sinusoidal period of the incremental signal. The subdivided incremental signal can therefore be appended in the subsequent electronics to the serially transmitted code value.

Encoder saves position value

Subsequent electronics transmit mode command

Mode command

Position value

Cyclic Redundancy Check

Interrupted clock

Save new position value

Save new position value

CRC

Position value

CRC

n = 0 to 7; depending on system

Continuous clock

Encoder

Subsequent electronics
Latch signal

1 VPP Counter

1 VPP

Subdivision Parallel interface

After power on and initial transmission of position values, two redundant position values are available in the subsequent electronics. Since encoders with EnDat interface guarantee a precise synchronizationregardless of cable lengthof the serially transmitted absolute value with the incremental signals, the two

values can be compared in the subsequent electronics. This monitoring is possible even at high shaft speeds thanks to the EnDat interfaces short transmission times of less than 50 s. This capability is a prerequisite for modern machine design and safety systems.

48

Comparator

Parameters and Memory Areas


The encoder provides several memory areas for parameters. These can be read from by the subsequent electronics, and some can be written to by the encoder manufacturer, the OEM, or even the end user. Certain memory areas can be writeprotected. The parameters, which in most cases are set by the OEM, largely dene the function of the encoder and the EnDat interface. When the encoder is exchanged, it is therefore essential that its parameter settings are correct. Attempts to congure machines without including OEM data can result in malfunctions. If there is any doubt as to the correct parameter settings, the OEM should be consulted. Parameters of the encoder manufacturer This write-protected memory area contains all information specic to the encoder, such as encoder type (linear/angular, singleturn/multiturn, etc.), signal periods, position values per revolution, transmission format of position values, direction of rotation, maximum speed, accuracy dependent on shaft speeds, warnings and alarms, part number and serial number. This information forms the basis for automatic conguration. A separate memory area contains the parameters typical for EnDat 2.2: Status of additional information, temperature, acceleration, support of diagnostic and error messages, etc.

Parameters of the OEM In this freely denable memory area, the OEM can store his information, e.g. the electronic ID label of the motor in which the encoder is integrated, indicating the motor model, maximum current rating, etc. Operating parameters This area is available for a datum shift and the conguration of diagnostics. It can be protected against overwriting. Operating status This memory area provides detailed alarms or warnings for diagnostic purposes. Here it is also possible to activate write protection for the OEM parameter and operating parameter memory areas, and to interrogate their status. Once write protection is activated, it cannot be removed.

Monitoring and Diagnostic Functions


The EnDat interface enables comprehensive monitoring of the encoder without requiring an additional transmission line. The alarms and warnings supported by the respective encoder are saved in the parameters of the encoder manufacturer memory area. Error message An error message becomes active if a malfunction of the encoder might result in incorrect position values. The exact cause of the disturbance is saved in the operating status memory and can be interrogated in detail. Errors include, for example, Light unit failure Signal amplitude too low Error in calculation of position value Power supply too high/low Current consumption is excessive Here the EnDat interface transmits the error bits, error 1 and error 2 (only with EnDat 2.2 commands). These are group signals for all monitored functions and serve for failure monitoring. The two error messages are generated independently from each other. Warning This collective bit is transmitted in the status data of the additional information. It indicates that certain tolerance limits of the encoder have been reached or exceededsuch as shaft speed or the limit of light source intensity compensation through voltage regulationwithout implying that the measured position values are incorrect. This function makes it possible to issue preventive warnings in order to minimize idle time. Cyclic Redundancy Check To ensure reliability of data transfer, a cyclic redundancy check (CRC) is performed through the logical processing of the individual bit values of a data word. This 5-bit long CRC concludes every transmission. The CRC is decoded in the receiver electronics and compared with the data word. This largely eliminates errors caused by disturbances during data transfer.

Safety System
The safety system is in preparation. Safetyoriented controls are the planned application for encoders with EnDat 2.2 interface. Refer to IEC 61800 standard Adjustable speed electrical power drive systems Part 5-2.

Absolute Encoder

Subsequent electronics
1 VPP A*) 1 VPP B*)
EnDat interface

Incremental signals *)

Absolute position value

Operating parameters

Operating status

Parameters Parameters of the encoder of the OEM manufacturer for EnDat 2.1 EnDat 2.2

*) Depends on encoder

49

Pin Layout

17-pin coupling M23

Power supply 7 UP 1 Sensor UP Blue 10 0V 4 Sensor 0V White 11 Inside shield / 15 A+

Incremental signals 16 A 12 B+

1)

Absolute position values 13 B 14 DATA 17 DATA 8 9

CLOCK CLOCK

Brown/ Green

White/ Green

Green/ Black

Yellow/ Black

Blue/ Black

Red/ Black

Gray

Pink

Violet

Yellow

Shield on housing; UP = power supply voltage Sensor: The sensor line is connected internally with the corresponding power line Vacant pins or wires must not be used! 1) Not with EnDat 2.2, order designation 22

8-pin coupling M12


7

5 8

4 3 2

Power supply 2 UP 1) Blue 8 UP Brown/Green 1 0 V1) White 5 0V White/Green 3 DATA Gray

Absolute position values 4 DATA Pink 7 CLOCK Violet 6 CLOCK Yellow

Shield on housing; UP = power supply voltage for power lines congured parallel Vacant pins or wires must not be used!
1)

15-pin D-sub connector, male for IK 115/IK 215

15-pin D-sub connector, female for HEIDENHAIN controls and IK 220 Incremental signals1) 10 11 Sensor 0V White 6 13 Inside shield / 1 3 A+ 9 4 A 3 6 B+ 11 7 B 5 5 DATA

Power supply 4 1 UP 12 9 Sensor UP Blue 2 2 0V

Absolute position values 13 8 DATA 8 14 15 15

CLOCK CLOCK

Brown/ Green

White/ Green

Green/ Black

Yellow/ Black

Blue/ Black

Red/ Black

Gray

Pink

Violet

Yellow

Shield on housing; UP = power supply voltage Sensor: The sensor line is connected internally with the corresponding power line Vacant pins or wires must not be used! 1) Not with EnDat 2.2, order designation 22

50

Interface PROFIBUS-DP Absolute Position Values

PROFIBUS-DP PROFIBUS is a nonproprietary, open eld bus in accordance with the international EN 50170 standard. The connecting of sensors through eld bus systems minimizes the cost of cabling and reduces the number of lines between encoder and subsequent electronics. Topology and bus assignment The PROFIBUS-DP is designed as a linear structure. It permits transfer rates up to 12 Mbit/s. Both mono-master and multi master systems are possible. Each master can serve only its own slaves (polling). The slaves are polled cyclically by the master. Slaves are, for example, sensors such as absolute rotary encoders, linear encoders, or also control devices such as motor frequency inverters. Physical characteristics The electrical features of the PROFIBUSDP comply with the RS-485 standard. The bus connection is a shielded, twisted twowire cable with active bus terminations at each end.

E.g.: LC 181 absolute linear encoder Slave 1

E.g.: ROQ 425 multiturn rotary encoder Slave 3 Slave 5

E.g.: ROC 413 singleturn rotary encoder

Slave 2 E.g. frequency inverter with motor Master 1 Slave 4

E.g.: RCN 723 absolute angle encoder

Bus structure of PROFIBUS-DP

Self-conguration The characteristics of the HEIDENHAIN encoders required for system conguration are included as electronic data sheets also called device identication records (GSD)in the gateway. These device identication records (GSD) completely and clearly describe the characteristics of a unit in an exactly dened format. This makes it possible to integrate the encoders into the bus system in a simple and applicationfriendly way. Conguration PROFIBUS-DP devices can be congured and the parameters assigned to t the requirements of the user. Once these settings are made in the conguration tool with the aid of the GSD le, they are saved in the master. It then congures the PROFIBUS devices every time the network starts up. This simplies exchanging the devices: there is no need to edit or reenter the conguration data.

ROC ROQ

ROC ROQ

LC*

RCN*

ROC* ROQ*

ECN* EQN*

* with EnDat interface

51

PROFIBUS-DP prole The PNO (PROFIBUS user organization) has dened a standard, nonproprietary prole for the connection of absolute encoders to the PROFIBUS-DP , thus ensuring high exibility and simple conguration on all systems that use this standardized prole. You can request the prole for absolute encoders from the PNO in Karlsruhe, Germany, under the order number 3.062. There are two classes dened in the prole, whereby class 1 provides minimum support, and class 2 allows additional, in part optional functions. Supported functions Particularly important in decentralized eld bus systems are the diagnostic functions (e.g. warnings and alarms), and the electronic ID label with information on the type of encoder, resolution, and measuring range. But also programming functions such as counting direction reversal, preset/ zero shift and changing the resolution (scaling) are possible. The operating time of the encoder can also be recorded. Operating status In addition to the transfer of the diagnostic functions over the PROFIBUS-DP , the operating statuses of the supply voltage and bus status are displayed by LEDs on the rear of the encoder.

Characteristic

Class

ECN 1131) EQN 4251) ROC 4151) LC 4811) ECN 4131) ROQ 425 ROC 4171) LC 1821) ROC 413 16 32 32
2

Position value in pure binary 1, 2 code Data word length Scaling function Measuring steps/rev Total resolution Reversal of counting direction Preset/Datum shift 2 Diagnostic functions Warnings and alarms Operating time recording Prole version Serial number
1) 2)

32

1, 2

2 2 1, 2

2 2 2 2

Connectible with EnDat Interface over gateway to PROFIBUS-DP Scaling factor in binary steps

52

Connection The absolute rotary encoders with integrated PROFIBUS-DP interface feature screw terminals for the PROFIBUSDP and the power supply. The cable is connected over three PG7 screw connections on the bus housing. Here the coding switches are located for addressing (0 to 99) and selecting the terminating resistor, which is to be activated if the rotary encoder is the last participant on the PROFIBUS-DP . All connections and controls are easily accessible in the bus housing.

Power supply UP, 0 V

Bus terminals A, B Terminal resistor

Addressing of tens digit

Addressing of ones digit

Power supply Bus input

Bus output

Connection via gateway All absolute encoders from HEIDENHAIN with EnDat interface are suitable for PROFIBUS-DP . The encoder is electrically connected through a gateway. The complete interface electronics are integrated in the gateway, which offers a number of benets: Simple connection of the eld bus cable, since the terminals are easily accessible. Encoder dimensions remain small. No temperature restrictions for the encoder. All temperature-sensitive components are in the gateway. No bus interruption when an encoder is exchanged. Besides the EnDat encoder connector, the gateway provides connections for the PROFIBUS and the power supply. In the gateway there are coding switches for addressing and selecting the terminating resistor. Since the gateway is connected directly to the bus lines, the cable to the encoder is not a stub line, although it can be up to 150 meters long.

Gateway Power supply 10 to 30 V/Max. 400 mA (internal voltage converter to 5 V 5 % for EnDat encoders) IP 67 40 C to 80 C

Protection Operating temperature Electrical connection EnDat PROFIBUS-DP Id. Nr.

Flange socket 17-pin Terminations, PG9 cable exit 325771-01

31.5

129

28.5 67

38.9+1

263

84

53

Interfaces SSI Absolute Position Values

The absolute position value, beginning with the most signicant bit, is transferred over the data lines (DATA) in synchronism with a CLOCK signal from the control. The SSI standard data word length for singleturn absolute encoders is 13 bits, and for multiturn absolute encoders 25 bits. In addition to the absolute position values, sinusoidal incremental signals with 1-VPP levels are transmitted. For signal description see Incremental signals 1 VPP. The following functions can be activated via the programming inputs of the interfaces by applying the supply voltage UP: Direction of rotation Continuous application of a HIGH level to pin 2 reverses the direction of rotation for ascending position values. Zero reset (setting to zero) Applying a positive edge (tmin > 1 ms) to pin 5 sets the current position to zero. Note: The programming inputs must always be terminated with a resistor (see input circuitry of the subsequent electronics).

Interface Data transfer Data input

SSI serial Absolute position values Differential line receiver according to EIA standard RS 485 for the CLOCK and CLOCK signals Differential line driver according to EIA standard RS 485 for the DATA and DATA signals Gray code With clockwise rotation (viewed from ange side) (can be switched via interface) 1 VPP (see Incremental Signals 1 VPP) Direction of rotation and zero reset LOW < 0.25 x UP HIGH > 0.6 x UP tmin > 1 ms HEIDENHAIN cable with shielding PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)] Max. 150 m distributed capacitance 90 pF/m 6 ns/m

Data output

Code Ascending position values Incremental signals Programming inputs Inactive Active Switching time Connecting cable Cable length Propagation time

Control cycle for complete data word When not transmitting, the clock and data lines are on high level. The current position value is stored on the rst falling edge of the clock. The stored data is then clocked out on the rst rising edge. After transmission of a complete data word, the data line remains low for a period of time (t2) until the encoder is ready for interrogation of a new value. If a falling clock edge is received within t2, the same data will be output once again. If the data output is interrupted (CLOCK = high for t t2), a new position value will be stored on the next falling edge of the clock, and on the subsequent rising edge it will be clocked out to the subsequent electronics.

Data transfer
T = 1 to 10 s tcal see Specications t1 0.4 s (without cable) t2 = 17 to 20 s n = Data word length 13 bits with ECN/ ROC 25 bits with EQN/ ROQ

CLOCK and DATA not shown

Cable length [m]

Permissible clock frequency with respect to cable lengths

Clock frequency [kHz]

54

Input circuitry of the subsequent electronics


Dimensioning IC1 = Differential line receiver and driver E.g. SN 65 LBC 176 LT 485 Z0 = 120 C3 = 330 pF (serves to improve noise immunity)

Data transfer

Encoder

Subsequent electronics

Incremental signals

Programming via connector

Zero reset

Direction of rotation

Pin layout
17-pin coupling M23

Power supply 7
UP

Incremental signals 4
Sensor 0V

Absolute position values 13


B

Other signals 2 5

1
Sensor UP

10
0V

11
Inside shield

15
A+

16
A

12
B+

14
DATA

17
DATA

CLOCK CLOCK Direction Zero of reset rotation Violet Yellow Black Green

Brown/ Green

Blue

White/ Green

White

Green/ Black

Yellow/ Black

Blue/ Black

Red/ Black

Gray

Pink

Shield on housing; UP = power supply voltage Sensor: With a 5 V supply voltage, the sensor line is connected internally with the corresponding power line.

55

Connecting Elements and Cables General Information

Connector insulated: Connecting element with coupling ring. Available with male or female contacts. Symbols

Connector insulated: Connecting element with external thread. Available with male or female contacts. Symbols

M12

M23 M12

M23

Mounted coupling with central fastening

Cutout for mounting

M23

Mounted coupling with ange

M23

Flange socket: Permanently mounted on the encoder or a housing, with external thread (like the coupling), and available with male or female contacts. Symbols M23

Right-angle ange socket (rotatable) on adapter cable inside the motor with connection for temperature sensor M12 M23

D-sub connector: For HEIDENHAIN controls, counters and IK absolute value cards. Symbols

The pins on connectors are numbered in the direction opposite to those on couplings or ange sockets, regardless of whether the connecting elements are male or female.

Accessories for ange socket and M23 mounted couplings Bell seal Id. Nr. 266526-01 Threaded metal dust cap Id. Nr. 219926-01

When engaged, the connections provide protection to IP 67 (D-sub connector: IP 50; IEC 60529). When not engaged, there is no protection. x: 41,7 y: 15,2

56

Connecting Cables

8-pin M12
for EnDat without incremental signals

12-pin 17-pin M23 M23


for 1 VPP TTL For EnDat with incremental SSI signals

PUR connecting cable

8-pin: 12-pin: 17-pin:

[(4 0.14 mm2) + (4 0.34 mm2)] 6 mm [4(2 0.14 mm2) + (4 0.5 mm2)] 8 mm [(4 0.14 mm2) + 4(2 0.14 mm2) + (4 0.5 mm2)] 8 mm 368330-xx 298401-xx 323897-xx

Complete with connector (female) and coupling (male) Complete with connector (female) and connector (male) Complete with connector (female) and Dsub connector (female) for IK 220 Complete with connector (female) and Dsub connector (male) for IK 115/IK 215 With one connector (female)

298399-xx

530627-xx

310199-xx

332115-xx

524599-xx

310196-xx

324544-xx

559346-xx

309777-xx

309778-xx

Cable only, 8 mm

244957-01

266306-01

Mating element on connecting cable to connector on encoder cable

Connector (female) for cable

8 mm

291697-05

291697-26

Connector on cable for connection to subsequent electronics

Connector (female) for cable

8 mm 6 mm

291697-08 291697-07

291697-27

Coupling on connecting cable

Coupling (male) for cable

4.5 mm 6 mm 8 mm

291698-14 291698-03 291698-04

291698-25 291698-26 291698-27

Flange socket for connection to subsequent electronics Mounted couplings

Coupling (female)

315892-08

315892-10

With ange (female)

6 mm 8 mm

291698-17 291698-07

291698-35

With ange (male)

6 mm 8 mm

291698-08 291698-31

291698-41 291698-29

With central fastening (male)

6 mm

291698-33

291698-37

Adapter connector 1 VPP/11 APP For converting the 1 VPP signals to 11 APP; M23 connector (female) 12-pin and M23 connector (male) 9-pin

364914-01

57

General Electrical Information

Power Supply
The encoders require a stabilized dc voltage UP as power supply. The respective specications state the required power supply and the current consumption. The permissible ripple content of the dc voltage is: High frequency interference UPP < 250 mV with dU/dt > 5 V/s Low frequency fundamental ripple UPP < 100 mV

Electrically Permissible Speed/ Traversing Speed


The maximum permissible shaft speed or traversing velocity of an encoder is derived from the mechanically permissible shaft speed/traversing velocity (if listed in Specications), and the electrically permissible shaft speed or traversing velocity. For encoders with sinusoidal output signals, the electrically permissible shaft speed or traversing velocity is limited by the 3dB/ 6dB cutoff frequency or the permissible input frequency of the subsequent electronics. For encoders with square-wave signals, the electrically permissible shaft speed or traversing velocity is limited by the maximum permissible scanning/ output frequency fmax of the encoder and the minimum permissible edge separation a for the subsequent electronics For angular or rotary encoders

Cable
Lengths The cable lengths listed in the Specications apply only for HEIDENHAIN cables and the recommended input circuitry of subsequent electronics. Durability All encoders have polyurethane (PUR) cables. PUR cables are resistant to oil, hydrolysis and microbes in accordance with VDE 0472. They are free of PVC and silicone and comply with UL safety directives. The UL certication AWM STYLE 20963 80 C 30 V E63216 is documented on the cable. Temperature range HEIDENHAIN cables can be used: for stationary cables 40 to 85 C for moving cables 10 to 85 C Cables with limited resistance to hydrolysis and microbes are rated for up to 100 C. Bending radius The permissible bending radii R depend on the cable diameter and the conguration:

UPP

Typically 500 ms

Initial transient response of the supply voltage e. g. 5 V 5 % The values apply as measured at the encoder, i.e., without cable inuences. The voltage can be monitored and adjusted with the devices sensor lines. If a controllable power supply is not available, the voltage drop can be halved by switching the sensor lines parallel to the corresponding power lines. Calculation of the voltage drop: L I 3 U = 2 10 C 56 AP with U: Voltage attenuation in V LC: Cable length in m I: Current consumption of the encoder in mA (see Specications) AP: Cross section of power supply lines in mm2 HEIDENHAIN cables

nmax =

fmax 60 103 z Stationary cable

For linear encoders vmax = fmax SP 60 103 where nmax: Electrically permissible speed in rpm vmax: Electrically permissible speed in m/min fmax: Maximum scanning/ output frequency of the encoder or input frequency of the subsequent electronics in kHz z: Line count of the angle or rotary encoder per 360 SP: Signal period of the linear encoder in m

Moving cable

Moving cable

Cross section of power supply lines AP 1 VPP/TTL/HTL 11 APP EnDat/SSI EnDat 17-pin 8-pin 0.34 mm2 1 mm2

HEIDENHAIN Stationary Moving cables cable cable 3.7 mm 4.5 mm 5.1 mm 6 mm 8 mm 10 mm


1)

R 8 mm R 40 mm R 10 mm R 50 mm

3.7 mm

0.05 mm2

4.5/5.1 mm 0.14/0.052) mm2 0.05 mm2 0.05 mm2


1) 6/10 mm 3) 2 0.19/ 0.14 mm

R 20 mm R 75 mm R 40 mm R 100 mm R 35 mm R 75 mm R 50 mm R 100 mm

0.08 mm2 0.5 mm2


3)

8/141) mm
1)

0.5 mm
2)

1 mm2

Metal armor

Only on length gauges

Only for LIDA 400

14 mm1)

58

Reliable Signal Transmission


Electromagnetic compatibility/ CE compliance When properly installed, HEIDENHAIN encoders fulll the requirements for electromagnetic compatibility according to 89/336/EEC with respect to the generic standards for: Noise immunity IEC 61 000-6-2: Specically: ESD IEC 61 000-4-2 Electromagnetic elds IEC 61 000-4-3 Burst IEC 61 000-4-4 Surge IEC 61 000-4-5 Conducted disturbances IEC 61 000-4-6 Power frequency magnetic elds IEC 61 000-4-8 Pulse magnetic elds IEC 61 000-4-9 Interference IEC 61 000-6-4: Specically: For industrial, scientic and medical (ISM) equipment IEC 55 011 For information technology equipment IEC 55 022 Transmission of measuring signals electrical noise immunity Noise voltages arise mainly through capacitive or inductive transfer. Electrical noise can be introduced into the system over signal lines and input or output terminals. Possible sources of noise are: Strong magnetic elds from transformers and electric motors Relays, contactors and solenoid valves High-frequency equipment, pulse devices, and stray magnetic elds from switch-mode power supplies AC power lines and supply lines to the above devices Isolation The encoder housings are isolated against all circuits. Rated surge voltage: 500 V (preferred value as per VDE 0110 Part 1) Protection against electrical noise The following measures must be taken to ensure disturbance-free operation: Use only original HEIDENHAIN cables. Watch for voltage attenuation on the supply lines. Use connectors or terminal boxes with metal housings. Do not conduct any extraneous signals. Connect the housings of the encoder, connector, terminal box and evaluation electronics through the shield of the cable. Connect the shielding in the area of the cable inlets to be as induction-free as possible (short, full-surface contact). Connect the entire shielding system with the protective ground. Prevent contact of loose connector housings with other metal surfaces. The cable shielding has the function of an equipotential bonding conductor. If compensating currents are to be expected within the entire system, a separate equipotential bonding conductor must be provided. See also EN 50178/4.98 Chapter 5.2.9.5 regarding protective connection lines with small cross section. Connect HEIDENHAIN position encoders only to subsequent electronics whose power supply is generated through double or strengthened insulation against line voltage circuits. Also see IEC 364-4-41: 1992, modied Chapter 411 regarding protection against both direct and indirect touch (PELV or SELV). Do not lay signal cables in the direct vicinity of interference sources (inductive consumers such as contacts, motors, frequency inverters, solenoids, etc.). Sufcient decoupling from interferencesignal-conducting cables can usually be achieved by an air clearance of 100 mm or, when cables are in metal ducts, by a grounded partition. A minimum spacing of 200 mm to inductors in switch-mode power supplies is required. See also EN 50178/4.98 Chapter 5.3.1.1 regarding cables and lines, EN 50174-2/09.01 Chapter 6.7 regarding grounding and potential compensation. When using multiturn encoders in electromagnetic elds greater than 30 mT, HEIDENHAIN recommends consulting with the main facility in Traunreut. Both the cable shielding and the metal housings of encoders and subsequent electronics have a shielding function. The housings must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line. Potential compensating lines should have a minimum cross section of 6 mm2 (Cu).

Minimum distance from sources of interference

59

HEIDENHAIN Measuring Equipment and Counter Cards

The IK 215 is an adapter card for PCs for inspecting and testing absolute HEIDENHAIN encoders with EnDat or SSI interface. All parameters can be read and written via the EnDat interface.

IK 215 Encoder input Interface Application software EnDat (absolute value or incremental signals) or SSI PCI bus, Rev. 2.1 Operating system: Features: Windows 2000/XP Display of position value Counter for incremental signals EnDat functionality Installation software for EXI 1100/1300

Signal subdivision for incremental signals Dimensions

Up to 65536-fold

100 mm x 190 mm

The PWM 9 is a universal measuring device for checking and adjusting HEIDENHAIN incremental encoders. There are different expansion modules available for checking the different encoder signals. The values can be read on an LCD monitor. Soft keys provide ease of operation.

PWM 9 Inputs Expansion modules (interface boards) for 11 APP; 1 VPP; TTL; HTL; EnDat*/SSI*/commutation signals *No display of position values or parameters Measurement of signal amplitudes, current consumption, operating voltage, scanning frequency Graphic display of incremental signals (amplitudes, phase angle and on-off ratio) and the reference signal (width and position) Display symbols for the reference mark, fault detection signal, counting direction Universal counter, interpolation selectable from single to 1024-fold Adjustment support for exposed linear encoders Inputs are connected through to the subsequent electronics BNC sockets for connection to an oscilloscope 10 to 30 V, max. 15 W 150 mm 205 mm 96 mm

Features

Outputs

Power supply Dimensions

60

IK 220 Universal PC counter card The IK 220 is an expansion board for AT-compatible PCs for recording the measured values of two incremental or absolute linear or angle encoders. The subdivision and counting electronics subdivide the sinusoidal input signals up to 4096-fold. A driver software package is included in delivery.

IK 220 Input signals (switchable) Encoder inputs Max. input frequency Max. cable length Signal subdivision (signal period: meas. step) 1 VPP 11 APP EnDat 2.1 SSI

Two D-sub connectors (15-pin), male 500 kHz 60 m 33 kHz 10 m

Up to 4096-fold

Data register for measured 48 bits (44 bits used) values (per channel) Internal memory Interface Driver software and demonstration program Dimensions For more information, see the IK 220 Product Information sheet. For 8192 position values PCI bus (plug and play) For WINDOWS 98/NT/2000/XP In VISUAL C++, VISUAL BASIC and BORLAND DELPHI Approx. 190 mm 100 mm

61

Customer ServiceWorldwide

HEIDENHAIN is represented by subsidiaries in all important industrial nations. In addition to the addresses listed here, there are many service agencies located worldwide. For more information, visit our Internet site or contact HEIDENHAIN in Traunreut, Germany.
DR. JOHANNES HEIDENHAIN GmbH Dr.-Johannes-Heidenhain-Strae 5 83301 Traunreut, Germany { +49 (86 69) 31-0 | +49 (86 69) 50 61 E-Mail: info@heidenhain.de www.heidenhain.de

Europe

RO

HU

SE

HEIDENHAIN Scandinavia AB Storstragrnd 5 12739 Skrholmen, Sweden { (08) 53 193350 | (08) 53 193377 E-Mail: sales@heidenhain.se CZ

SK

62

Asia

America

Africa

Australia

63

Information

DR. JOHANNES HEIDENHAIN GmbH Dr.-Johannes-Heidenhain-Strae 5 83301 Traunreut, Germany { +49 (86 69) 31-0 | +49 (86 69) 50 61 E-Mail: info@heidenhain.de www.heidenhain.de

349 529-25 40 11/2005 F&W Printed in Germany Subject to change without notice

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